{
    "0": {
        "acceleration": [
            -0.0026391027495265007,
            -0.0007323033059947193,
            -0.3530225157737732
        ],
        "angular_velocity": [
            0.014271250925958157,
            0.03564371541142464,
            -0.0001674339728197083
        ],
        "forward_vector": [
            0.9999721646308899,
            -0.0007845456711947918,
            -0.007419040892273188
        ],
        "right_vector": [
            0.0007852627313695848,
            0.9999997019767761,
            9.374069486511871e-05
        ],
        "location": [
            2360.921875,
            2298.13037109375,
            364.03021240234375
        ],
        "rotation": [
            -0.005371094215661287,
            -0.42508363723754883,
            -0.0449523963034153
        ],
        "velocity": [
            0.0018962123431265354,
            -8.572142542107031e-05,
            0.2349897176027298
        ],
        "speed": 0.0018981489438401945,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "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": -0.0015359167009592056,
        "expert_target_speed": 1.4344713383735892,
        "target_point": [
            12.498050690228036,
            4.024249921860852e-05
        ],
        "target_point_next": [
            24.432708335730716,
            13.584847710872241
        ]
    },
    "5": {
        "acceleration": [
            -0.004278551787137985,
            0.010437035001814365,
            -0.47737300395965576
        ],
        "angular_velocity": [
            -0.03870556503534317,
            0.02034791372716427,
            0.00021816925436723977
        ],
        "forward_vector": [
            0.9999710917472839,
            -0.0007845447980798781,
            -0.007565425708889961
        ],
        "right_vector": [
            0.0007848775712773204,
            0.9999997019767761,
            4.10115098929964e-05
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.0695495605469
        ],
        "rotation": [
            -0.0023498537484556437,
            -0.43347111344337463,
            -0.0449523963034153
        ],
        "velocity": [
            0.000768506433814764,
            0.0003377130487933755,
            0.09149394184350967
        ],
        "speed": 0.0008394356688514034,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.33561706542969,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.29931640625,
                2351.8828125,
                365.3041076660156
            ],
            "velocity": [
                3.1962324453793656e-10,
                6.978268629609374e-08,
                -2.450000286102295
            ],
            "speed_kmh": 8.820001029968266,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.8828125,
                        "z": 365.3041076660156
                    },
                    "rotation": {
                        "roll": 5.3377039677116045e-08,
                        "pitch": -1.411130666732788,
                        "yaw": -90.2624282836914
                    }
                },
                "velocity": {
                    "x": 3.1962324453793656e-10,
                    "y": 6.978268629609374e-08,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2439.62060546875,
                        "y": 2295.69189453125,
                        "z": 363.3948669433594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.503263533115387,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2341.897705078125,
                        "z": 364.9645080566406
                    },
                    "rotation": {
                        "roll": -0.0010071098804473877,
                        "pitch": 1.3923954963684082,
                        "yaw": 89.73757934570312
                    }
                },
                "velocity": {
                    "x": 0.00022307717881631106,
                    "y": 0.012164811603724957,
                    "z": -0.5031164288520813
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4553561508655548,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.8974609375,
                        "z": 365.3417053222656
                    },
                    "rotation": {
                        "roll": 0.0003991008852608502,
                        "pitch": 1.4157205820083618,
                        "yaw": 89.73760986328125
                    }
                },
                "velocity": {
                    "x": -0.00011184500181116164,
                    "y": 0.011188749223947525,
                    "z": -0.455218642950058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3635404407978058,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.17388916015625
                    },
                    "rotation": {
                        "roll": -0.00015258787607308477,
                        "pitch": 0.1527571678161621,
                        "yaw": -0.04486083984375
                    }
                },
                "velocity": {
                    "x": 0.0009458080749027431,
                    "y": -0.00021900264255236834,
                    "z": -0.3635391592979431
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.36146074533462524,
                "transform": {
                    "location": {
                        "x": 2345.922607421875,
                        "y": 2298.14208984375,
                        "z": 364.1875
                    },
                    "rotation": {
                        "roll": -6.513815094949527e-12,
                        "pitch": -0.20000842213630676,
                        "yaw": -0.0450134240090847
                    }
                },
                "velocity": {
                    "x": -0.0005256817094050348,
                    "y": -0.0005046042497269809,
                    "z": -0.36146000027656555
                },
                "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": 0.0003688425640575588,
        "expert_target_speed": 1.2909874167415922,
        "target_point": [
            12.49829483077789,
            4.0434049939296404e-05
        ],
        "target_point_next": [
            24.432952476280573,
            13.584847902422961
        ]
    },
    "10": {
        "acceleration": [
            -0.0012160777114331722,
            0.00384506955742836,
            -0.14697179198265076
        ],
        "angular_velocity": [
            -0.03234194591641426,
            0.007894187234342098,
            0.00017314421711489558
        ],
        "forward_vector": [
            0.9999706745147705,
            -0.0007850769907236099,
            -0.007617041934281588
        ],
        "right_vector": [
            0.0007852052804082632,
            0.9999997019767761,
            1.3848033631802537e-05
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.0823059082031
        ],
        "rotation": [
            -0.0007934569148346782,
            -0.43642857670783997,
            -0.04498291015625
        ],
        "velocity": [
            0.00023383802908938378,
            0.0002921939012594521,
            0.025721285492181778
        ],
        "speed": 0.0003742425681047333,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.33507537841797,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.29931640625,
                2351.885009765625,
                365.1878967285156
            ],
            "velocity": [
                -7.279218698386103e-05,
                -0.003791092662140727,
                0.15409131348133087
            ],
            "speed_kmh": 0.5548966543617798,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.15413795411586761,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.885009765625,
                        "z": 365.1878967285156
                    },
                    "rotation": {
                        "roll": -0.0011597306001931429,
                        "pitch": -1.4265122413635254,
                        "yaw": -90.26226043701172
                    }
                },
                "velocity": {
                    "x": -7.279218698386103e-05,
                    "y": -0.003791092662140727,
                    "z": 0.15409131348133087
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2437.5380859375,
                        "y": 2295.64892578125,
                        "z": 363.35546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.10245311260223389,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2341.898193359375,
                        "z": 364.95611572265625
                    },
                    "rotation": {
                        "roll": -0.0008239746675826609,
                        "pitch": 1.3922998905181885,
                        "yaw": 89.73763275146484
                    }
                },
                "velocity": {
                    "x": -9.52296395553276e-05,
                    "y": -0.0025349135976284742,
                    "z": 0.10242170095443726
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09457559138536453,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.8974609375,
                        "z": 365.3345642089844
                    },
                    "rotation": {
                        "roll": -0.00030515698017552495,
                        "pitch": 1.414422869682312,
                        "yaw": 89.73763275146484
                    }
                },
                "velocity": {
                    "x": -0.00014780776109546423,
                    "y": -0.002406015992164612,
                    "z": 0.09454486519098282
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04397270455956459,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.1662292480469
                    },
                    "rotation": {
                        "roll": 4.4180636905366555e-05,
                        "pitch": 0.15301671624183655,
                        "yaw": -0.04486083984375
                    }
                },
                "velocity": {
                    "x": -9.040957229444757e-05,
                    "y": -4.8221420001937076e-05,
                    "z": 0.04397258535027504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.04430545121431351,
                "transform": {
                    "location": {
                        "x": 2345.922607421875,
                        "y": 2298.14208984375,
                        "z": 364.1799011230469
                    },
                    "rotation": {
                        "roll": 0.00019829395751003176,
                        "pitch": -0.2009851336479187,
                        "yaw": -0.0450439453125
                    }
                },
                "velocity": {
                    "x": 3.284286503912881e-05,
                    "y": -0.00016994099132716656,
                    "z": 0.04430511221289635
                },
                "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": 0.0020706607028841972,
        "expert_target_speed": 1.2252199134871793,
        "target_point": [
            12.498294830757189,
            4.639370132878372e-05
        ],
        "target_point_next": [
            24.432945998517525,
            13.58485955296104
        ]
    },
    "15": {
        "acceleration": [
            -0.0011490583419799805,
            -5.158624844625592e-05,
            -0.047533418983221054
        ],
        "angular_velocity": [
            -0.01118924655020237,
            -0.005156778264790773,
            -2.4068483980954625e-05
        ],
        "forward_vector": [
            0.9999704957008362,
            -0.0007856095908209682,
            -0.007638856302946806
        ],
        "right_vector": [
            0.0007857708842493594,
            0.9999997019767761,
            1.810896719689481e-05
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.0855712890625
        ],
        "rotation": [
            -0.0010375977726653218,
            -0.4376784861087799,
            -0.0450134314596653
        ],
        "velocity": [
            4.226624878356233e-05,
            3.0336843337863684e-05,
            0.005883059464395046
        ],
        "speed": 5.2026530250825574e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.23381805419922,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.300537109375,
                2351.770263671875,
                365.212646484375
            ],
            "velocity": [
                0.012123447842895985,
                -1.2757728099822998,
                0.02298622950911522
            ],
            "speed_kmh": 4.59373486742815,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2760374546051025,
                "transform": {
                    "location": {
                        "x": 2388.300537109375,
                        "y": 2351.770263671875,
                        "z": 365.212646484375
                    },
                    "rotation": {
                        "roll": -0.01303101982921362,
                        "pitch": -1.2228087186813354,
                        "yaw": -90.19827270507812
                    }
                },
                "velocity": {
                    "x": 0.012123447842895985,
                    "y": -1.2757728099822998,
                    "z": 0.02298622950911522
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2435.455322265625,
                        "y": 2295.605712890625,
                        "z": 363.34197998046875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7214592099189758,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.023457128554582596,
                "transform": {
                    "location": {
                        "x": 2385.503662109375,
                        "y": 2341.898193359375,
                        "z": 364.9714050292969
                    },
                    "rotation": {
                        "roll": -0.0010681195417419076,
                        "pitch": 1.3928121328353882,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -9.326603321824223e-05,
                    "y": -0.0006194639136083424,
                    "z": 0.02344876155257225
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.019895076751708984,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3485412597656
                    },
                    "rotation": {
                        "roll": 0.0018415108788758516,
                        "pitch": 1.4148530960083008,
                        "yaw": 89.73770141601562
                    }
                },
                "velocity": {
                    "x": 2.062655403278768e-05,
                    "y": -0.0005385680124163628,
                    "z": 0.019887775182724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.130599021911621,
                "transform": {
                    "location": {
                        "x": 2331.01025390625,
                        "y": 2298.154296875,
                        "z": 364.1733093261719
                    },
                    "rotation": {
                        "roll": -0.0035400392953306437,
                        "pitch": 0.29711320996284485,
                        "yaw": -0.0011901856632903218
                    }
                },
                "velocity": {
                    "x": 1.130471110343933,
                    "y": 0.008132802322506905,
                    "z": 0.014933948405086994
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.2520588636398315,
                "transform": {
                    "location": {
                        "x": 2346.036865234375,
                        "y": 2298.142822265625,
                        "z": 364.1863098144531
                    },
                    "rotation": {
                        "roll": -0.005889892112463713,
                        "pitch": -0.004610377363860607,
                        "yaw": -0.011749266646802425
                    }
                },
                "velocity": {
                    "x": 1.2519779205322266,
                    "y": 0.010702446103096008,
                    "z": 0.009382686577737331
                },
                "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": 0.0006454471149481833,
        "expert_target_speed": 1.2053809919849763,
        "target_point": [
            12.498294830727318,
            5.384326556562985e-05
        ],
        "target_point_next": [
            24.43293790130591,
            13.584874116129301
        ]
    },
    "20": {
        "acceleration": [
            0.0006197347538545728,
            -0.0015490209916606545,
            -0.0027463026344776154
        ],
        "angular_velocity": [
            -0.0006971851689741015,
            0.0066377269104123116,
            -9.679345384938642e-05
        ],
        "forward_vector": [
            0.999970555305481,
            -0.0007861422491259873,
            -0.007632538676261902
        ],
        "right_vector": [
            0.0007862546481192112,
            0.9999997019767761,
            1.17175668492564e-05
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.08612060546875
        ],
        "rotation": [
            -0.00067138671875,
            -0.43731650710105896,
            -0.0450439490377903
        ],
        "velocity": [
            5.165301263332367e-05,
            -1.0626809853420127e-05,
            0.0020298699382692575
        ],
        "speed": 5.273483480356264e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.785213470458984,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.303466796875,
                2351.2646484375,
                365.2066345214844
            ],
            "velocity": [
                0.009317604824900627,
                -2.755772352218628,
                -0.05822596326470375
            ],
            "speed_kmh": 9.923051348150041,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7564032077789307,
                "transform": {
                    "location": {
                        "x": 2388.303466796875,
                        "y": 2351.2646484375,
                        "z": 365.2066345214844
                    },
                    "rotation": {
                        "roll": -0.007812470197677612,
                        "pitch": -1.126216173171997,
                        "yaw": -90.03854370117188
                    }
                },
                "velocity": {
                    "x": 0.009317604824900627,
                    "y": -2.755772352218628,
                    "z": -0.05822596326470375
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2433.37255859375,
                        "y": 2295.562744140625,
                        "z": 363.3658447265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7214592099189758,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9145981073379517,
                "transform": {
                    "location": {
                        "x": 2385.503173828125,
                        "y": 2342.101318359375,
                        "z": 364.9775695800781
                    },
                    "rotation": {
                        "roll": -0.00021361670223996043,
                        "pitch": 1.430548906326294,
                        "yaw": 89.78533172607422
                    }
                },
                "velocity": {
                    "x": -0.008204053156077862,
                    "y": 1.9140334129333496,
                    "z": 0.04576979577541351
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010213933419436216,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.34991455078125
                    },
                    "rotation": {
                        "roll": 0.001199330436065793,
                        "pitch": 1.414573073387146,
                        "yaw": 89.73770904541016
                    }
                },
                "velocity": {
                    "x": 8.305162282340461e-07,
                    "y": -3.5709141229745e-05,
                    "z": -0.0010207686573266983
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1915524005889893,
                "transform": {
                    "location": {
                        "x": 2331.440185546875,
                        "y": 2298.158447265625,
                        "z": 364.1758117675781
                    },
                    "rotation": {
                        "roll": -0.004180908203125,
                        "pitch": 0.3217838406562805,
                        "yaw": 0.1811635047197342
                    }
                },
                "velocity": {
                    "x": 2.1914381980895996,
                    "y": 0.020680861547589302,
                    "z": 0.008502530865371227
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6285312175750732,
                "transform": {
                    "location": {
                        "x": 2346.528564453125,
                        "y": 2298.147705078125,
                        "z": 364.1861877441406
                    },
                    "rotation": {
                        "roll": -0.009185791015625,
                        "pitch": 0.05907430127263069,
                        "yaw": 0.15857799351215363
                    }
                },
                "velocity": {
                    "x": 2.628397226333618,
                    "y": 0.025396134704351425,
                    "z": -0.007690248545259237
                },
                "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": -0.0025871479883790016,
        "expert_target_speed": 1.2015286014903155,
        "target_point": [
            12.49829483070022,
            5.980291695509288e-05
        ],
        "target_point_next": [
            24.43293142353036,
            13.58488576666043
        ]
    },
    "25": {
        "acceleration": [
            -0.0009223445667885244,
            -0.00256242579780519,
            -0.007383488118648529
        ],
        "angular_velocity": [
            0.020076945424079895,
            -0.005148137919604778,
            -0.0002609738730825484
        ],
        "forward_vector": [
            0.9999704957008362,
            -0.0007866748492233455,
            -0.007640048395842314
        ],
        "right_vector": [
            0.0007867914391681552,
            0.9999997019767761,
            1.2250182408024557e-05
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.08636474609375
        ],
        "rotation": [
            -0.0007019042386673391,
            -0.4377467930316925,
            -0.0450744703412056
        ],
        "velocity": [
            8.409172551182564e-06,
            -6.43040330032818e-05,
            0.0013757712440565228
        ],
        "speed": 6.485154464993658e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.98933792114258,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.306396484375,
                2350.366455078125,
                365.185546875
            ],
            "velocity": [
                0.017176920548081398,
                -4.3442606925964355,
                -0.10516148060560226
            ],
            "speed_kmh": 15.644042193019718,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.345567226409912,
                "transform": {
                    "location": {
                        "x": 2388.306396484375,
                        "y": 2350.366455078125,
                        "z": 365.185546875
                    },
                    "rotation": {
                        "roll": -0.013763372786343098,
                        "pitch": -1.0956988334655762,
                        "yaw": -89.91583251953125
                    }
                },
                "velocity": {
                    "x": 0.017176920548081398,
                    "y": -4.3442606925964355,
                    "z": -0.10516148060560226
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2431.2900390625,
                        "y": 2295.51953125,
                        "z": 363.3899230957031
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7214592099189758,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.897294044494629,
                "transform": {
                    "location": {
                        "x": 2385.50146484375,
                        "y": 2342.72119140625,
                        "z": 364.9924011230469
                    },
                    "rotation": {
                        "roll": 0.004707981366664171,
                        "pitch": 1.4210617542266846,
                        "yaw": 89.93672180175781
                    }
                },
                "velocity": {
                    "x": -0.015347260981798172,
                    "y": 2.896430015563965,
                    "z": 0.06906597316265106
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001658454886637628,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3497314453125
                    },
                    "rotation": {
                        "roll": 0.0005258180317468941,
                        "pitch": 1.4148257970809937,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -4.656376404454932e-06,
                    "y": -1.8987208022736013e-05,
                    "z": -0.0016583396354690194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.7050795555114746,
                "transform": {
                    "location": {
                        "x": 2332.173828125,
                        "y": 2298.166259765625,
                        "z": 364.1781311035156
                    },
                    "rotation": {
                        "roll": -0.00445556640625,
                        "pitch": 0.37548279762268066,
                        "yaw": 0.36970725655555725
                    }
                },
                "velocity": {
                    "x": 3.704859733581543,
                    "y": 0.03905493766069412,
                    "z": 0.010217580944299698
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.2536845207214355,
                "transform": {
                    "location": {
                        "x": 2347.400634765625,
                        "y": 2298.156494140625,
                        "z": 364.1830139160156
                    },
                    "rotation": {
                        "roll": -0.011932372115552425,
                        "pitch": 0.10244600474834442,
                        "yaw": 0.3667829632759094
                    }
                },
                "velocity": {
                    "x": 4.253389835357666,
                    "y": 0.04613886773586273,
                    "z": -0.019479164853692055
                },
                "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": -0.0005740973283536732,
        "expert_target_speed": 1.200875403543401,
        "target_point": [
            12.498294830662356,
            6.725248119189911e-05
        ],
        "target_point_next": [
            24.43292332630312,
            13.584900329820002
        ]
    },
    "30": {
        "acceleration": [
            -0.0004047736874781549,
            -0.001082140952348709,
            0.011013459414243698
        ],
        "angular_velocity": [
            0.007121638394892216,
            -0.006467961706221104,
            -0.00015933065151330084
        ],
        "forward_vector": [
            0.9999704360961914,
            -0.0007866746746003628,
            -0.007647916208952665
        ],
        "right_vector": [
            0.0007867547683417797,
            0.9999997019767761,
            7.456632829416776e-06
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.08636474609375
        ],
        "rotation": [
            -0.00042724609375,
            -0.4381975829601288,
            -0.045074462890625
        ],
        "velocity": [
            5.3745507102576084e-06,
            -2.054959986708127e-05,
            0.0015444851014763117
        ],
        "speed": 2.124080624727501e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.88120651245117,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.31201171875,
                2349.109375,
                365.1551513671875
            ],
            "velocity": [
                0.023535771295428276,
                -5.363168716430664,
                -0.1316612958908081
            ],
            "speed_kmh": 19.31341027216726,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.3648362159729,
                "transform": {
                    "location": {
                        "x": 2388.31201171875,
                        "y": 2349.109375,
                        "z": 365.1551513671875
                    },
                    "rotation": {
                        "roll": -0.014678999781608582,
                        "pitch": -1.1694649457931519,
                        "yaw": -89.82543182373047
                    }
                },
                "velocity": {
                    "x": 0.023535771295428276,
                    "y": -5.363168716430664,
                    "z": -0.1316612958908081
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.033472061157227,
                "transform": {
                    "location": {
                        "x": 2429.24755859375,
                        "y": 2295.47412109375,
                        "z": 363.4127502441406
                    },
                    "rotation": {
                        "roll": -0.002410888671875,
                        "pitch": 0.7058658599853516,
                        "yaw": -178.6644287109375
                    }
                },
                "velocity": {
                    "x": -8.03013801574707,
                    "y": -0.21719686686992645,
                    "z": 0.07990190386772156
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6318278312683105,
                "transform": {
                    "location": {
                        "x": 2385.498046875,
                        "y": 2343.5419921875,
                        "z": 365.0123291015625
                    },
                    "rotation": {
                        "roll": 0.007342764176428318,
                        "pitch": 1.4126743078231812,
                        "yaw": 90.0759048461914
                    }
                },
                "velocity": {
                    "x": -0.020473191514611244,
                    "y": 3.6306865215301514,
                    "z": 0.08870656788349152
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.45351613254752e-05,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -1.214610347233247e-05,
                    "y": -5.2855608373647556e-05,
                    "z": -5.730692919314606e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.124439239501953,
                "transform": {
                    "location": {
                        "x": 2333.28857421875,
                        "y": 2298.178955078125,
                        "z": 364.18115234375
                    },
                    "rotation": {
                        "roll": -0.0025024411734193563,
                        "pitch": 0.3816709518432617,
                        "yaw": 0.5514916181564331
                    }
                },
                "velocity": {
                    "x": 5.12404727935791,
                    "y": 0.06047571450471878,
                    "z": 0.01892130821943283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.619809627532959,
                "transform": {
                    "location": {
                        "x": 2348.621826171875,
                        "y": 2298.170654296875,
                        "z": 364.1770935058594
                    },
                    "rotation": {
                        "roll": -0.01208495907485485,
                        "pitch": -0.09429758787155151,
                        "yaw": 0.6401822566986084
                    }
                },
                "velocity": {
                    "x": 4.619402885437012,
                    "y": 0.05376746505498886,
                    "z": -0.02943473309278488
                },
                "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": 0.001183503889478743,
        "expert_target_speed": 1.2010427209946644,
        "target_point": [
            12.498294830662356,
            6.725248119189911e-05
        ],
        "target_point_next": [
            24.43292332630312,
            13.584900329820002
        ]
    },
    "35": {
        "acceleration": [
            0.00022825447376817465,
            -9.066403436008841e-05,
            -0.024490896612405777
        ],
        "angular_velocity": [
            -0.017092442139983177,
            0.006609128322452307,
            3.017285416717641e-05
        ],
        "forward_vector": [
            0.9999704360961914,
            -0.000787207274697721,
            -0.007647439371794462
        ],
        "right_vector": [
            0.0007872914429754019,
            0.9999997019767761,
            7.989249752426986e-06
        ],
        "location": [
            2360.921630859375,
            2298.13037109375,
            364.08642578125
        ],
        "rotation": [
            -0.00045776370097883046,
            -0.43817028403282166,
            -0.04510498046875
        ],
        "velocity": [
            3.824218947556801e-05,
            5.362928277463652e-05,
            0.0002540343557484448
        ],
        "speed": 6.586778443827582e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 56.683406829833984,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.318359375,
                2347.742431640625,
                365.12139892578125
            ],
            "velocity": [
                0.028152674436569214,
                -5.549691200256348,
                -0.13535307347774506
            ],
            "speed_kmh": 19.98508652413884,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.551413059234619,
                "transform": {
                    "location": {
                        "x": 2388.318359375,
                        "y": 2347.742431640625,
                        "z": 365.12139892578125
                    },
                    "rotation": {
                        "roll": -0.016204897314310074,
                        "pitch": -1.3242164850234985,
                        "yaw": -89.74130249023438
                    }
                },
                "velocity": {
                    "x": 0.028152674436569214,
                    "y": -5.549691200256348,
                    "z": -0.13535307347774506
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.02053451538086,
                "transform": {
                    "location": {
                        "x": 2427.24169921875,
                        "y": 2295.417236328125,
                        "z": 363.4347839355469
                    },
                    "rotation": {
                        "roll": 0.004410107154399157,
                        "pitch": 0.7083930373191833,
                        "yaw": -178.296142578125
                    }
                },
                "velocity": {
                    "x": -8.01590347290039,
                    "y": -0.25517159700393677,
                    "z": 0.09572059661149979
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.32762336730957,
                "transform": {
                    "location": {
                        "x": 2385.4931640625,
                        "y": 2344.540283203125,
                        "z": 365.0367126464844
                    },
                    "rotation": {
                        "roll": 0.008932928554713726,
                        "pitch": 1.4147096872329712,
                        "yaw": 90.19424438476562
                    }
                },
                "velocity": {
                    "x": -0.02584391087293625,
                    "y": 4.326255798339844,
                    "z": 0.10566898435354233
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008319272310473025,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 2.4777778889983892e-05,
                    "y": -3.558143725967966e-05,
                    "z": -0.0008307965472340584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.885534763336182,
                "transform": {
                    "location": {
                        "x": 2334.654296875,
                        "y": 2298.19091796875,
                        "z": 364.18487548828125
                    },
                    "rotation": {
                        "roll": 0.00850242655724287,
                        "pitch": 0.30103373527526855,
                        "yaw": 0.5206205248832703
                    }
                },
                "velocity": {
                    "x": 5.885367393493652,
                    "y": 0.04208900034427643,
                    "z": 0.01404118537902832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7678178548812866,
                "transform": {
                    "location": {
                        "x": 2349.014892578125,
                        "y": 2298.173583984375,
                        "z": 364.1746520996094
                    },
                    "rotation": {
                        "roll": -0.011596678756177425,
                        "pitch": -0.9029509425163269,
                        "yaw": 0.7730840444564819
                    }
                },
                "velocity": {
                    "x": 0.7677754759788513,
                    "y": 0.0064804330468177795,
                    "z": -0.004795408342033625
                },
                "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": -0.00026691085076890886,
        "expert_target_speed": 1.1997606387303579,
        "target_point": [
            12.498294830628865,
            7.321213258133091e-05
        ],
        "target_point_next": [
            24.43291684851507,
            13.584911980344181
        ]
    },
    "40": {
        "acceleration": [
            3.213527202606201,
            0.007015049923211336,
            -0.005210302770137787
        ],
        "angular_velocity": [
            0.02005430869758129,
            -0.5566819906234741,
            1.0323944091796875
        ],
        "forward_vector": [
            0.999995768070221,
            -0.0007233115611597896,
            -0.0028346737381070852
        ],
        "right_vector": [
            0.0007233869400806725,
            0.9999997615814209,
            2.5566245312802494e-05
        ],
        "location": [
            2361.070068359375,
            2298.13037109375,
            364.0843200683594
        ],
        "rotation": [
            -0.00146484375,
            -0.1624150574207306,
            -0.04144287109375
        ],
        "velocity": [
            1.072735071182251,
            0.0007213715580292046,
            -0.0072568985633552074
        ],
        "speed": 1.072735313729027,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.07502365112305,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.326171875,
                2345.977783203125,
                365.0783996582031
            ],
            "velocity": [
                0.020408816635608673,
                -8.123285293579102,
                -0.19946058094501495
            ],
            "speed_kmh": 29.252733657765656,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.125760078430176,
                "transform": {
                    "location": {
                        "x": 2388.326171875,
                        "y": 2345.977783203125,
                        "z": 365.0783996582031
                    },
                    "rotation": {
                        "roll": -0.0019836295396089554,
                        "pitch": -1.0187909603118896,
                        "yaw": -89.78433227539062
                    }
                },
                "velocity": {
                    "x": 0.020408816635608673,
                    "y": -8.123285293579102,
                    "z": -0.19946058094501495
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.933772087097168,
                "transform": {
                    "location": {
                        "x": 2425.2490234375,
                        "y": 2295.3544921875,
                        "z": 363.4592590332031
                    },
                    "rotation": {
                        "roll": 0.00978162046521902,
                        "pitch": 0.7018770575523376,
                        "yaw": -178.16177368164062
                    }
                },
                "velocity": {
                    "x": -7.929565906524658,
                    "y": -0.23979902267456055,
                    "z": 0.09604549407958984
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.795858860015869,
                "transform": {
                    "location": {
                        "x": 2385.486572265625,
                        "y": 2345.706298828125,
                        "z": 365.0650939941406
                    },
                    "rotation": {
                        "roll": 0.0124269500374794,
                        "pitch": 1.416273832321167,
                        "yaw": 90.27571868896484
                    }
                },
                "velocity": {
                    "x": -0.0300446767359972,
                    "y": 4.794312477111816,
                    "z": 0.11801723390817642
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004408550157677382,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 1.3979034463318385e-07,
                    "y": -5.939453694736585e-05,
                    "z": -0.00043683568947017193
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.979753017425537,
                "transform": {
                    "location": {
                        "x": 2336.22119140625,
                        "y": 2298.201416015625,
                        "z": 364.18853759765625
                    },
                    "rotation": {
                        "roll": 0.006161061115562916,
                        "pitch": 0.3361750543117523,
                        "yaw": 0.3428475856781006
                    }
                },
                "velocity": {
                    "x": 6.979593276977539,
                    "y": 0.04517611488699913,
                    "z": 0.013662995770573616
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.5075137615203857,
                "transform": {
                    "location": {
                        "x": 2349.4736328125,
                        "y": 2298.17724609375,
                        "z": 364.1725769042969
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.19384758174419403,
                        "yaw": 0.675295352935791
                    }
                },
                "velocity": {
                    "x": 2.507408618927002,
                    "y": 0.019900845363736153,
                    "z": -0.011477623134851456
                },
                "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": 0.0008309015538543463,
        "expert_target_speed": 2.272047639657865,
        "target_point": [
            12.349857348623765,
            -0.0008327486977080939
        ],
        "target_point_next": [
            24.285347361438838,
            13.583243415035723
        ]
    },
    "45": {
        "acceleration": [
            2.1110892295837402,
            -0.04163016378879547,
            -0.01955414190888405
        ],
        "angular_velocity": [
            -0.032813746482133865,
            0.11675941199064255,
            -1.1404268741607666
        ],
        "forward_vector": [
            0.9999955296516418,
            -0.0010950870346277952,
            -0.002790924161672592
        ],
        "right_vector": [
            0.0010947954142466187,
            0.9999994039535522,
            -0.00010600418318063021
        ],
        "location": [
            2361.407958984375,
            2298.1298828125,
            364.081787109375
        ],
        "rotation": [
            0.00607361551374197,
            -0.15990838408470154,
            -0.06274411827325821
        ],
        "velocity": [
            1.6205331087112427,
            -0.006321235094219446,
            -0.011063652113080025
        ],
        "speed": 1.6205454373273342,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.09516906738281,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.329345703125,
                2343.884033203125,
                365.0272521972656
            ],
            "velocity": [
                0.006300862412899733,
                -8.219717979431152,
                -0.19991657137870789
            ],
            "speed_kmh": 29.599744241648523,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2439.66796875,
                        "y": 2295.692626953125,
                        "z": 363.3957214355469
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.222151756286621,
                "transform": {
                    "location": {
                        "x": 2388.329345703125,
                        "y": 2343.884033203125,
                        "z": 365.0272521972656
                    },
                    "rotation": {
                        "roll": 0.00340886483900249,
                        "pitch": -1.2926268577575684,
                        "yaw": -89.9366683959961
                    }
                },
                "velocity": {
                    "x": 0.006300862412899733,
                    "y": -8.219717979431152,
                    "z": -0.19991657137870789
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.609442234039307,
                "transform": {
                    "location": {
                        "x": 2423.2822265625,
                        "y": 2295.296630859375,
                        "z": 363.4833984375
                    },
                    "rotation": {
                        "roll": 0.008078153245151043,
                        "pitch": 0.6977720856666565,
                        "yaw": -178.3298797607422
                    }
                },
                "velocity": {
                    "x": -7.605950355529785,
                    "y": -0.2108665406703949,
                    "z": 0.09312160313129425
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.338439464569092,
                "transform": {
                    "location": {
                        "x": 2385.48046875,
                        "y": 2346.728759765625,
                        "z": 365.0904846191406
                    },
                    "rotation": {
                        "roll": 0.014774445444345474,
                        "pitch": 1.3773553371429443,
                        "yaw": 90.31971740722656
                    }
                },
                "velocity": {
                    "x": -0.02174447663128376,
                    "y": 3.337378978729248,
                    "z": 0.08127576857805252
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015324996784329414,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -7.00021746524726e-06,
                    "y": -2.3265778509085067e-05,
                    "z": -0.0015323071274906397
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.17441987991333,
                "transform": {
                    "location": {
                        "x": 2337.84033203125,
                        "y": 2298.21142578125,
                        "z": 364.19134521484375
                    },
                    "rotation": {
                        "roll": -0.00012207029067212716,
                        "pitch": -0.050174567848443985,
                        "yaw": 0.19670769572257996
                    }
                },
                "velocity": {
                    "x": 5.174284934997559,
                    "y": 0.03555307909846306,
                    "z": 0.011583843268454075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.021943775936961174,
                "transform": {
                    "location": {
                        "x": 2349.9580078125,
                        "y": 2298.18115234375,
                        "z": 364.17010498046875
                    },
                    "rotation": {
                        "roll": -0.006744383834302425,
                        "pitch": -0.6778210997581482,
                        "yaw": 0.5449444651603699
                    }
                },
                "velocity": {
                    "x": 0.021928710862994194,
                    "y": 0.0007782768807373941,
                    "z": 0.00023499823873862624
                },
                "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": 0.002019184874370694,
        "expert_target_speed": 2.819584044253327,
        "target_point": [
            12.011965847481365,
            0.0038773445090619727
        ],
        "target_point_next": [
            23.94240428877281,
            13.592390348759174
        ]
    },
    "50": {
        "acceleration": [
            3.4905195236206055,
            -0.032049473375082016,
            -0.03392066806554794
        ],
        "angular_velocity": [
            0.011878298595547676,
            -0.29628056287765503,
            0.5070840120315552
        ],
        "forward_vector": [
            0.9999955892562866,
            -0.0019957663025707006,
            -0.0022200325038284063
        ],
        "right_vector": [
            0.0019954766612499952,
            0.9999980330467224,
            -0.00013269824557937682
        ],
        "location": [
            2361.90673828125,
            2298.1279296875,
            364.0780334472656
        ],
        "rotation": [
            0.007603067439049482,
            -0.12719860672950745,
            -0.1143493503332138
        ],
        "velocity": [
            2.3867952823638916,
            -0.012237227521836758,
            -0.017489470541477203
        ],
        "speed": 2.3868266526189013,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.13655471801758,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.330078125,
                2341.8994140625,
                364.9789123535156
            ],
            "velocity": [
                0.0007115023909136653,
                -7.8168535232543945,
                -0.1892465502023697
            ],
            "speed_kmh": 28.148918601262444,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2437.78857421875,
                        "y": 2295.65380859375,
                        "z": 363.3601379394531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.819143772125244,
                "transform": {
                    "location": {
                        "x": 2388.330078125,
                        "y": 2341.8994140625,
                        "z": 364.9789123535156
                    },
                    "rotation": {
                        "roll": -0.0010376091813668609,
                        "pitch": -1.4399950504302979,
                        "yaw": -89.98406219482422
                    }
                },
                "velocity": {
                    "x": 0.0007115023909136653,
                    "y": -7.8168535232543945,
                    "z": -0.1892465502023697
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.728334426879883,
                "transform": {
                    "location": {
                        "x": 2421.401123046875,
                        "y": 2295.24462890625,
                        "z": 363.5064392089844
                    },
                    "rotation": {
                        "roll": 0.006668815389275551,
                        "pitch": 0.705018937587738,
                        "yaw": -178.4449462890625
                    }
                },
                "velocity": {
                    "x": -7.725005149841309,
                    "y": -0.20591360330581665,
                    "z": 0.09511979669332504
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.1286163330078125,
                "transform": {
                    "location": {
                        "x": 2385.478759765625,
                        "y": 2347.349853515625,
                        "z": 365.1058654785156
                    },
                    "rotation": {
                        "roll": 0.014318238943815231,
                        "pitch": 1.3594398498535156,
                        "yaw": 90.29742431640625
                    }
                },
                "velocity": {
                    "x": -0.00543151656165719,
                    "y": 1.1282721757888794,
                    "z": 0.02733471803367138
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009175450541079044,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -1.181270636152476e-05,
                    "y": -3.6632864066632465e-05,
                    "z": -0.0009167373646050692
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004893462639302015,
                "transform": {
                    "location": {
                        "x": 2338.295166015625,
                        "y": 2298.21484375,
                        "z": 364.1912536621094
                    },
                    "rotation": {
                        "roll": 0.012574068270623684,
                        "pitch": -0.6076409220695496,
                        "yaw": -0.03936767578125
                    }
                },
                "velocity": {
                    "x": -0.004606135655194521,
                    "y": -6.475269765360281e-05,
                    "z": 0.0016508479602634907
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1173814535140991,
                "transform": {
                    "location": {
                        "x": 2350.088623046875,
                        "y": 2298.181640625,
                        "z": 364.1695556640625
                    },
                    "rotation": {
                        "roll": -0.003570556640625,
                        "pitch": -0.3553747236728668,
                        "yaw": 0.5513498783111572
                    }
                },
                "velocity": {
                    "x": 1.1173365116119385,
                    "y": 0.00799463875591755,
                    "z": -0.006037177983671427
                },
                "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": 0.0018515868578106165,
        "expert_target_speed": 3.585067193687659,
        "target_point": [
            11.513175282319791,
            0.015653311312535497
        ],
        "target_point_next": [
            23.431370716118906,
            13.614905668331616
        ]
    },
    "55": {
        "acceleration": [
            3.28519344329834,
            -0.03540411591529846,
            -0.03491383045911789
        ],
        "angular_velocity": [
            0.003225808497518301,
            -0.06950034946203232,
            -0.9277530908584595
        ],
        "forward_vector": [
            0.9999932050704956,
            -0.0035185590386390686,
            -0.0010709759080782533
        ],
        "right_vector": [
            0.0035183955915272236,
            0.9999938011169434,
            -0.00015449931379407644
        ],
        "location": [
            2362.624267578125,
            2298.1240234375,
            364.0724182128906
        ],
        "rotation": [
            0.008852163329720497,
            -0.06136241555213928,
            -0.20159912109375
        ],
        "velocity": [
            3.2929036617279053,
            -0.02093946933746338,
            -0.024878501892089844
        ],
        "speed": 3.2929702377636487,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.082359313964844,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.328125,
                2339.928955078125,
                364.93115234375
            ],
            "velocity": [
                -0.013732479885220528,
                -7.859979152679443,
                -0.18961936235427856
            ],
            "speed_kmh": 28.30420103234218,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2435.76318359375,
                        "y": 2295.612060546875,
                        "z": 363.3351135253906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.862277984619141,
                "transform": {
                    "location": {
                        "x": 2388.328125,
                        "y": 2339.928955078125,
                        "z": 364.93115234375
                    },
                    "rotation": {
                        "roll": 0.003988799639046192,
                        "pitch": -1.4035627841949463,
                        "yaw": -90.06566619873047
                    }
                },
                "velocity": {
                    "x": -0.013732479885220528,
                    "y": -7.859979152679443,
                    "z": -0.18961936235427856
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.385374069213867,
                "transform": {
                    "location": {
                        "x": 2419.3515625,
                        "y": 2295.19189453125,
                        "z": 363.53155517578125
                    },
                    "rotation": {
                        "roll": 0.005672910250723362,
                        "pitch": 0.7191164493560791,
                        "yaw": -178.56307983398438
                    }
                },
                "velocity": {
                    "x": -8.382317543029785,
                    "y": -0.20150423049926758,
                    "z": 0.10314887762069702
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010379533050581813,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.106201171875
                    },
                    "rotation": {
                        "roll": 0.01334280427545309,
                        "pitch": 1.3709418773651123,
                        "yaw": 90.29186248779297
                    }
                },
                "velocity": {
                    "x": -0.00010631077748257667,
                    "y": -7.229342736536637e-05,
                    "z": -0.0010299605783075094
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00018711731536313891,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -5.919035629631253e-06,
                    "y": -5.690425678039901e-05,
                    "z": -0.00017815656610764563
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4433789253234863,
                "transform": {
                    "location": {
                        "x": 2338.507080078125,
                        "y": 2298.215576171875,
                        "z": 364.1925354003906
                    },
                    "rotation": {
                        "roll": 0.004592586774379015,
                        "pitch": 0.05453222617506981,
                        "yaw": 0.04940621182322502
                    }
                },
                "velocity": {
                    "x": 1.4433761835098267,
                    "y": 0.0017315901350229979,
                    "z": 0.0021883677691221237
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.470057487487793,
                "transform": {
                    "location": {
                        "x": 2350.54931640625,
                        "y": 2298.18505859375,
                        "z": 364.1668701171875
                    },
                    "rotation": {
                        "roll": -0.0021972653921693563,
                        "pitch": -0.14834487438201904,
                        "yaw": 0.5436387658119202
                    }
                },
                "velocity": {
                    "x": 2.469949960708618,
                    "y": 0.017530784010887146,
                    "z": -0.01493876427412033
                },
                "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": 0.009197107516229153,
        "expert_target_speed": 4.489187844756288,
        "target_point": [
            10.795599497491146,
            0.03456689044412625
        ],
        "target_point_next": [
            22.693072458774267,
            13.651952256352521
        ]
    },
    "60": {
        "acceleration": [
            2.030673027038574,
            -0.045132189989089966,
            -0.03187190741300583
        ],
        "angular_velocity": [
            0.029181694611907005,
            0.34350505471229553,
            -0.07681582868099213
        ],
        "forward_vector": [
            0.9999844431877136,
            -0.005190466530621052,
            -0.0020325169898569584
        ],
        "right_vector": [
            0.005190049763768911,
            0.9999865293502808,
            -0.00021023617591708899
        ],
        "location": [
            2363.529052734375,
            2298.11767578125,
            364.0657653808594
        ],
        "rotation": [
            0.012045670300722122,
            -0.11645472049713135,
            -0.2973937690258026
        ],
        "velocity": [
            3.8843753337860107,
            -0.03129066154360771,
            -0.02947103977203369
        ],
        "speed": 3.8845013630098033,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 46.998695373535156,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.32421875,
                2338.03515625,
                364.8854064941406
            ],
            "velocity": [
                -0.017532970756292343,
                -7.279552936553955,
                -0.1761375367641449
            ],
            "speed_kmh": 26.214136785281298,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2433.718994140625,
                        "y": 2295.569580078125,
                        "z": 363.3600158691406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7214592099189758,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.281704902648926,
                "transform": {
                    "location": {
                        "x": 2388.32421875,
                        "y": 2338.03515625,
                        "z": 364.8854064941406
                    },
                    "rotation": {
                        "roll": 0.0012127652298659086,
                        "pitch": -1.4839472770690918,
                        "yaw": -90.12541961669922
                    }
                },
                "velocity": {
                    "x": -0.017532970756292343,
                    "y": -7.279552936553955,
                    "z": -0.1761375367641449
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.902623176574707,
                "transform": {
                    "location": {
                        "x": 2417.319580078125,
                        "y": 2295.143310546875,
                        "z": 363.5567626953125
                    },
                    "rotation": {
                        "roll": 0.0031198812648653984,
                        "pitch": 0.6977037787437439,
                        "yaw": -178.66146850585938
                    }
                },
                "velocity": {
                    "x": -7.89992094039917,
                    "y": -0.18214534223079681,
                    "z": 0.09760158509016037
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00025835930136963725,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10601806640625
                    },
                    "rotation": {
                        "roll": 0.01377957034856081,
                        "pitch": 1.3963979482650757,
                        "yaw": 90.29194641113281
                    }
                },
                "velocity": {
                    "x": 1.3409822713583708e-05,
                    "y": -4.4991520553594455e-05,
                    "z": -0.0002540580171626061
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007385481148958206,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 9.441715519642457e-06,
                    "y": -3.187924448866397e-05,
                    "z": -0.0007377993315458298
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.167372226715088,
                "transform": {
                    "location": {
                        "x": 2338.9853515625,
                        "y": 2298.215576171875,
                        "z": 364.19329833984375
                    },
                    "rotation": {
                        "roll": 0.0024477685801684856,
                        "pitch": 0.17737999558448792,
                        "yaw": 0.010517571121454239
                    }
                },
                "velocity": {
                    "x": 2.167368173599243,
                    "y": 0.0028425182681530714,
                    "z": 0.0029889200814068317
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.0706915855407715,
                "transform": {
                    "location": {
                        "x": 2351.374755859375,
                        "y": 2298.190673828125,
                        "z": 364.16162109375
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": -0.05761947110295296,
                        "yaw": 0.4746197760105133
                    }
                },
                "velocity": {
                    "x": 4.0705084800720215,
                    "y": 0.02714809775352478,
                    "z": -0.027524765580892563
                },
                "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": 0.017127808183431625,
        "expert_target_speed": 5.078434471182992,
        "target_point": [
            9.890720700885096,
            0.05426745912463488
        ],
        "target_point_next": [
            21.765409997709884,
            13.691525290961428
        ]
    },
    "65": {
        "acceleration": [
            1.6960906982421875,
            -0.0518248975276947,
            -0.030021481215953827
        ],
        "angular_velocity": [
            -0.026986533775925636,
            0.2588917016983032,
            -0.6373977065086365
        ],
        "forward_vector": [
            0.9999686479568481,
            -0.007228251080960035,
            -0.00324367918074131
        ],
        "right_vector": [
            0.007227483671158552,
            0.9999738335609436,
            -0.00024808512534946203
        ],
        "location": [
            2364.561767578125,
            2298.10888671875,
            364.0582580566406
        ],
        "rotation": [
            0.014214306138455868,
            -0.18584944307804108,
            -0.414154052734375
        ],
        "velocity": [
            4.349560737609863,
            -0.04332244396209717,
            -0.032220806926488876
        ],
        "speed": 4.3497764821089495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 44.9591064453125,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.319580078125,
                2336.27001953125,
                364.84283447265625
            ],
            "velocity": [
                -0.021183526143431664,
                -6.93607234954834,
                -0.16831299662590027
            ],
            "speed_kmh": 24.977327604777415,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.8828125,
                        "z": 365.60791015625
                    },
                    "rotation": {
                        "roll": 5.3377039677116045e-08,
                        "pitch": -1.411130666732788,
                        "yaw": -90.2624282836914
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.336982727050781,
                "transform": {
                    "location": {
                        "x": 2431.99951171875,
                        "y": 2295.526611328125,
                        "z": 363.3810729980469
                    },
                    "rotation": {
                        "roll": -0.031188970431685448,
                        "pitch": 0.4987608790397644,
                        "yaw": -178.54248046875
                    }
                },
                "velocity": {
                    "x": -6.333571434020996,
                    "y": -0.1924176961183548,
                    "z": 0.07872407883405685
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.938146591186523,
                "transform": {
                    "location": {
                        "x": 2388.319580078125,
                        "y": 2336.27001953125,
                        "z": 364.84283447265625
                    },
                    "rotation": {
                        "roll": -0.00045771978329867125,
                        "pitch": -1.4694467782974243,
                        "yaw": -90.14737701416016
                    }
                },
                "velocity": {
                    "x": -0.021183526143431664,
                    "y": -6.93607234954834,
                    "z": -0.16831299662590027
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083483695983887,
                "transform": {
                    "location": {
                        "x": 2415.3359375,
                        "y": 2295.09814453125,
                        "z": 363.58099365234375
                    },
                    "rotation": {
                        "roll": 0.0024854952935129404,
                        "pitch": 0.7052033543586731,
                        "yaw": -178.70277404785156
                    }
                },
                "velocity": {
                    "x": -8.080875396728516,
                    "y": -0.18006564676761627,
                    "z": 0.09864921122789383
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009407651959918439,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 5.508430604095338e-06,
                    "y": -2.7792006221716292e-05,
                    "z": -0.0009403384756296873
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00035122199915349483,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 3.200850926532439e-07,
                    "y": -4.28785388066899e-05,
                    "z": -0.00034859462175518274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3759922385215759,
                "transform": {
                    "location": {
                        "x": 2339.261474609375,
                        "y": 2298.21533203125,
                        "z": 364.1932067871094
                    },
                    "rotation": {
                        "roll": 0.0020929656457155943,
                        "pitch": -0.14727936685085297,
                        "yaw": -0.1359252780675888
                    }
                },
                "velocity": {
                    "x": 0.37598738074302673,
                    "y": 0.00020788963593076915,
                    "z": 0.0019008826930075884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.795995712280273,
                "transform": {
                    "location": {
                        "x": 2352.542724609375,
                        "y": 2298.1982421875,
                        "z": 364.1535339355469
                    },
                    "rotation": {
                        "roll": -0.0013427735539153218,
                        "pitch": -0.19012513756752014,
                        "yaw": 0.4139508008956909
                    }
                },
                "velocity": {
                    "x": 4.795783042907715,
                    "y": 0.03038650006055832,
                    "z": -0.033389557152986526
                },
                "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": 0.028247078880667686,
        "expert_target_speed": 5.541181672617288,
        "target_point": [
            8.857838177804744,
            0.07574755554698259
        ],
        "target_point_next": [
            20.70471170304052,
            13.737176278238717
        ]
    },
    "70": {
        "acceleration": [
            1.078023910522461,
            -0.05152866244316101,
            -0.003347545862197876
        ],
        "angular_velocity": [
            -0.006047363393008709,
            0.2635676860809326,
            -0.46687161922454834
        ],
        "forward_vector": [
            0.9999462962150574,
            -0.009381554089486599,
            -0.004407987464219332
        ],
        "right_vector": [
            0.009380224160850048,
            0.999955952167511,
            -0.0003222601080778986
        ],
        "location": [
            2365.6923828125,
            2298.096923828125,
            364.0499572753906
        ],
        "rotation": [
            0.01846432499587536,
            -0.2525599002838135,
            -0.5375365614891052
        ],
        "velocity": [
            4.6643524169921875,
            -0.056344542652368546,
            -0.033820364624261856
        ],
        "speed": 4.664692720575233,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 42.91359329223633,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.31396484375,
                2334.55615234375,
                364.8016357421875
            ],
            "velocity": [
                -0.0243669543415308,
                -6.739053249359131,
                -0.16123327612876892
            ],
            "speed_kmh": 24.26769282104891,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.418459415435791,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.884521484375,
                        "z": 365.2100830078125
                    },
                    "rotation": {
                        "roll": 0.00027708036941476166,
                        "pitch": -1.4124078750610352,
                        "yaw": -90.26227569580078
                    }
                },
                "velocity": {
                    "x": 0.00019064881780650467,
                    "y": 0.03487609699368477,
                    "z": -1.4180306196212769
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.50968074798584,
                "transform": {
                    "location": {
                        "x": 2430.392333984375,
                        "y": 2295.475830078125,
                        "z": 363.4012451171875
                    },
                    "rotation": {
                        "roll": 0.00243292935192585,
                        "pitch": 0.6669747829437256,
                        "yaw": -178.257080078125
                    }
                },
                "velocity": {
                    "x": -6.506221771240234,
                    "y": -0.19620564579963684,
                    "z": 0.08078883588314056
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.741025924682617,
                "transform": {
                    "location": {
                        "x": 2388.31396484375,
                        "y": 2334.55615234375,
                        "z": 364.8016357421875
                    },
                    "rotation": {
                        "roll": 0.0011256280122324824,
                        "pitch": -1.4378913640975952,
                        "yaw": -90.19170379638672
                    }
                },
                "velocity": {
                    "x": -0.0243669543415308,
                    "y": -6.739053249359131,
                    "z": -0.16123327612876892
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.106745719909668,
                "transform": {
                    "location": {
                        "x": 2413.299560546875,
                        "y": 2295.052734375,
                        "z": 363.6059265136719
                    },
                    "rotation": {
                        "roll": 0.0016575861955061555,
                        "pitch": 0.7043017745018005,
                        "yaw": -178.74591064453125
                    }
                },
                "velocity": {
                    "x": -8.104252815246582,
                    "y": -0.17536838352680206,
                    "z": 0.09823587536811829
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.825494296615943e-05,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 4.247776359989075e-06,
                    "y": -5.16360996698495e-05,
                    "z": 7.144651317503303e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014679377200081944,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 3.5918269531975966e-06,
                    "y": -3.271922469139099e-05,
                    "z": -0.0014675685670226812
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4809796810150146,
                "transform": {
                    "location": {
                        "x": 2339.5126953125,
                        "y": 2298.215576171875,
                        "z": 364.1936950683594
                    },
                    "rotation": {
                        "roll": 0.0008459470118395984,
                        "pitch": 0.1391855925321579,
                        "yaw": -0.11285398155450821
                    }
                },
                "velocity": {
                    "x": 1.4809786081314087,
                    "y": 0.000994476373307407,
                    "z": 0.0014950084732845426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.2931506633758545,
                "transform": {
                    "location": {
                        "x": 2353.549072265625,
                        "y": 2298.20458984375,
                        "z": 364.146484375
                    },
                    "rotation": {
                        "roll": -0.0021972651593387127,
                        "pitch": -0.6021972298622131,
                        "yaw": 0.3787071406841278
                    }
                },
                "velocity": {
                    "x": 3.293015718460083,
                    "y": 0.02015838585793972,
                    "z": -0.02197905071079731
                },
                "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": 0.05219142884016037,
        "expert_target_speed": 5.8539475741367495,
        "target_point": [
            7.726976816894208,
            0.09617719971767666
        ],
        "target_point_next": [
            19.544404422957125,
            13.783085245130314
        ]
    },
    "75": {
        "acceleration": [
            0.9351825714111328,
            -0.05902901291847229,
            -0.0128975510597229
        ],
        "angular_velocity": [
            -0.010499506257474422,
            0.15473772585391998,
            -0.5367238521575928
        ],
        "forward_vector": [
            0.9999181032180786,
            -0.011675405316054821,
            -0.0052374363876879215
        ],
        "right_vector": [
            0.011673753149807453,
            0.9999317526817322,
            -0.0003459376166574657
        ],
        "location": [
            2366.89111328125,
            2298.081298828125,
            364.04119873046875
        ],
        "rotation": [
            0.019821036607027054,
            -0.30008435249328613,
            -0.668975830078125
        ],
        "velocity": [
            4.912712097167969,
            -0.07054635882377625,
            -0.03759022802114487
        ],
        "speed": 4.913218592572876,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 40.90446853637695,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.30810546875,
                2332.92333984375,
                364.7624816894531
            ],
            "velocity": [
                -0.023427976295351982,
                -6.335963726043701,
                -0.15282617509365082
            ],
            "speed_kmh": 22.816259552718275,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2521991431713104,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.88525390625,
                        "z": 365.1747131347656
                    },
                    "rotation": {
                        "roll": 0.0004337420978117734,
                        "pitch": -1.4128040075302124,
                        "yaw": -90.26238250732422
                    }
                },
                "velocity": {
                    "x": -0.00016807025531306863,
                    "y": -0.00625874288380146,
                    "z": 0.2521214187145233
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.593889236450195,
                "transform": {
                    "location": {
                        "x": 2428.85302734375,
                        "y": 2295.430419921875,
                        "z": 363.42041015625
                    },
                    "rotation": {
                        "roll": 0.007644373457878828,
                        "pitch": 0.5699656009674072,
                        "yaw": -178.30877685546875
                    }
                },
                "velocity": {
                    "x": -5.591087341308594,
                    "y": -0.16253957152366638,
                    "z": 0.07015550136566162
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.337850093841553,
                "transform": {
                    "location": {
                        "x": 2388.30810546875,
                        "y": 2332.92333984375,
                        "z": 364.7624816894531
                    },
                    "rotation": {
                        "roll": 0.0003006789484061301,
                        "pitch": -1.4575759172439575,
                        "yaw": -90.20951080322266
                    }
                },
                "velocity": {
                    "x": -0.023427976295351982,
                    "y": -6.335963726043701,
                    "z": -0.15282617509365082
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.005857467651367,
                "transform": {
                    "location": {
                        "x": 2411.292236328125,
                        "y": 2295.009521484375,
                        "z": 363.63031005859375
                    },
                    "rotation": {
                        "roll": -0.0003051756648346782,
                        "pitch": 0.6820763349533081,
                        "yaw": -178.76611328125
                    }
                },
                "velocity": {
                    "x": -8.003427505493164,
                    "y": -0.17259269952774048,
                    "z": 0.09545314311981201
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007716014515608549,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.2446485925465822e-05,
                    "y": -2.9237568014650606e-05,
                    "z": -0.0007709468482062221
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005811972077935934,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 1.4392154298548121e-05,
                    "y": -4.64600307168439e-05,
                    "z": -0.0005791584262624383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.351513624191284,
                "transform": {
                    "location": {
                        "x": 2339.98583984375,
                        "y": 2298.215576171875,
                        "z": 364.19390869140625
                    },
                    "rotation": {
                        "roll": -0.0008850095910020173,
                        "pitch": 0.17234615981578827,
                        "yaw": -0.0360412634909153
                    }
                },
                "velocity": {
                    "x": 2.351510763168335,
                    "y": 0.0036606278736144304,
                    "z": 0.000843639369122684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.537759006023407,
                "transform": {
                    "location": {
                        "x": 2354.13671875,
                        "y": 2298.206298828125,
                        "z": 364.1424255371094
                    },
                    "rotation": {
                        "roll": 0.0009196524624712765,
                        "pitch": -0.890219509601593,
                        "yaw": 0.4144515097141266
                    }
                },
                "velocity": {
                    "x": 0.5377298593521118,
                    "y": -0.0031578962225466967,
                    "z": -0.004620685242116451
                },
                "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": 0.06979358196258545,
        "expert_target_speed": 6.100509822365506,
        "target_point": [
            18.313902556713632,
            13.829513170282516
        ],
        "target_point_next": [
            18.08676297636657,
            45.82879816765025
        ]
    },
    "80": {
        "acceleration": [
            -0.8039665222167969,
            0.08439958095550537,
            0.0014069676399230957
        ],
        "angular_velocity": [
            0.12486127763986588,
            0.5279837250709534,
            -0.11254692822694778
        ],
        "forward_vector": [
            0.9998868107795715,
            -0.013491930440068245,
            -0.006655762437731028
        ],
        "right_vector": [
            0.013490716926753521,
            0.999908983707428,
            -0.0002272488345624879
        ],
        "location": [
            2368.12548828125,
            2298.0634765625,
            364.03216552734375
        ],
        "rotation": [
            0.013020687736570835,
            -0.38134992122650146,
            -0.7730712890625
        ],
        "velocity": [
            4.8885087966918945,
            -0.06961658596992493,
            -0.03647789731621742
        ],
        "speed": 4.889004471707522,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 38.95447540283203,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.30224609375,
                2331.378173828125,
                364.7254943847656
            ],
            "velocity": [
                -0.025228049606084824,
                -6.067804336547852,
                -0.1455915868282318
            ],
            "speed_kmh": 21.85057146834545,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.062483757734298706,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.88427734375,
                        "z": 365.2137145996094
                    },
                    "rotation": {
                        "roll": 0.00048685219371691346,
                        "pitch": -1.4123190641403198,
                        "yaw": -90.26244354248047
                    }
                },
                "velocity": {
                    "x": -1.0579959052847698e-05,
                    "y": -0.0015893102390691638,
                    "z": 0.06246354058384895
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.330862522125244,
                "transform": {
                    "location": {
                        "x": 2427.514892578125,
                        "y": 2295.3916015625,
                        "z": 363.43701171875
                    },
                    "rotation": {
                        "roll": 0.008006198331713676,
                        "pitch": 0.6331038475036621,
                        "yaw": -178.34469604492188
                    }
                },
                "velocity": {
                    "x": -5.328256607055664,
                    "y": -0.15329976379871368,
                    "z": 0.0654103234410286
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.069603443145752,
                "transform": {
                    "location": {
                        "x": 2388.30224609375,
                        "y": 2331.378173828125,
                        "z": 364.7254943847656
                    },
                    "rotation": {
                        "roll": -0.0006713324110023677,
                        "pitch": -1.4435057640075684,
                        "yaw": -90.2222900390625
                    }
                },
                "velocity": {
                    "x": -0.025228049606084824,
                    "y": -6.067804336547852,
                    "z": -0.1455915868282318
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081001281738281,
                "transform": {
                    "location": {
                        "x": 2409.28173828125,
                        "y": 2294.966552734375,
                        "z": 363.6542053222656
                    },
                    "rotation": {
                        "roll": 0.0009862467413768172,
                        "pitch": 0.6815094351768494,
                        "yaw": -178.77713012695312
                    }
                },
                "velocity": {
                    "x": -8.078619003295898,
                    "y": -0.17136250436306,
                    "z": 0.09557698667049408
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005395922344177961,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.2522479664767161e-05,
                    "y": -3.482401371002197e-05,
                    "z": -0.0005383217358030379
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013660428521689028,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -3.2822608773130924e-05,
                    "y": -5.901694021304138e-05,
                    "z": -0.00011874513438669965
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1762983202934265,
                "transform": {
                    "location": {
                        "x": 2340.45263671875,
                        "y": 2298.21630859375,
                        "z": 364.19354248046875
                    },
                    "rotation": {
                        "roll": 0.000561583845410496,
                        "pitch": -0.19833502173423767,
                        "yaw": 0.07581709325313568
                    }
                },
                "velocity": {
                    "x": 0.1762946993112564,
                    "y": -0.00026308922679163516,
                    "z": 0.0010984897380694747
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1600490808486938,
                "transform": {
                    "location": {
                        "x": 2354.27880859375,
                        "y": 2298.20654296875,
                        "z": 364.1414489746094
                    },
                    "rotation": {
                        "roll": -0.0029296877328306437,
                        "pitch": -0.5107410550117493,
                        "yaw": 0.42647790908813477
                    }
                },
                "velocity": {
                    "x": 1.1600029468536377,
                    "y": 0.005324804689735174,
                    "z": -0.008860521018505096
                },
                "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": 0.09178980439901352,
        "expert_target_speed": 6.076486215575249,
        "target_point": [
            17.054242828550525,
            13.863930430972092
        ],
        "target_point_next": [
            16.768965153125166,
            45.862749930754084
        ]
    },
    "85": {
        "acceleration": [
            -1.894083023071289,
            0.0612882524728775,
            0.01914896070957184
        ],
        "angular_velocity": [
            0.05142860859632492,
            0.5455460548400879,
            0.3885733485221863
        ],
        "forward_vector": [
            0.9998835325241089,
            -0.012321633286774158,
            -0.009000775404274464
        ],
        "right_vector": [
            0.012323292903602123,
            0.9999240636825562,
            0.00012889178469777107
        ],
        "location": [
            2369.30419921875,
            2298.04931640625,
            364.0237731933594
        ],
        "rotation": [
            -0.007385254371911287,
            -0.5157133936882019,
            -0.7060240507125854
        ],
        "velocity": [
            4.520064830780029,
            -0.046421222388744354,
            -0.03473133593797684
        ],
        "speed": 4.520303198275815,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.08003234863281,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.296142578125,
                2329.889404296875,
                364.6899108886719
            ],
            "velocity": [
                -0.02423250675201416,
                -5.828024864196777,
                -0.13885487616062164
            ],
            "speed_kmh": 20.987024861683462,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2919774055480957,
                "transform": {
                    "location": {
                        "x": 2388.301513671875,
                        "y": 2351.561279296875,
                        "z": 365.209716796875
                    },
                    "rotation": {
                        "roll": -0.00433360505849123,
                        "pitch": -1.3693162202835083,
                        "yaw": -90.1323471069336
                    }
                },
                "velocity": {
                    "x": 0.011488686315715313,
                    "y": -2.2912089824676514,
                    "z": -0.058227717876434326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.497267246246338,
                "transform": {
                    "location": {
                        "x": 2426.093017578125,
                        "y": 2295.350830078125,
                        "z": 363.4547119140625
                    },
                    "rotation": {
                        "roll": 0.007550942245870829,
                        "pitch": 0.8613824248313904,
                        "yaw": -178.3227996826172
                    }
                },
                "velocity": {
                    "x": -6.494087219238281,
                    "y": -0.18638989329338074,
                    "z": 0.08106458187103271
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.829729080200195,
                "transform": {
                    "location": {
                        "x": 2388.296142578125,
                        "y": 2329.889404296875,
                        "z": 364.6899108886719
                    },
                    "rotation": {
                        "roll": 0.0008262837654910982,
                        "pitch": -1.4312455654144287,
                        "yaw": -90.23592376708984
                    }
                },
                "velocity": {
                    "x": -0.02423250675201416,
                    "y": -5.828024864196777,
                    "z": -0.13885487616062164
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.072264671325684,
                "transform": {
                    "location": {
                        "x": 2407.260498046875,
                        "y": 2294.923583984375,
                        "z": 363.6781311035156
                    },
                    "rotation": {
                        "roll": 0.00027474609669297934,
                        "pitch": 0.6739415526390076,
                        "yaw": -178.7884979248047
                    }
                },
                "velocity": {
                    "x": -8.069953918457031,
                    "y": -0.16986404359340668,
                    "z": 0.09194561094045639
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 9.812953067012131e-05,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.2866605629824335e-06,
                    "y": -4.6346634917426854e-05,
                    "z": -8.648548100609332e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009468922507949173,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 5.85573116040905e-06,
                    "y": -4.335224366514012e-05,
                    "z": -0.0009458811837248504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9678725004196167,
                "transform": {
                    "location": {
                        "x": 2340.572021484375,
                        "y": 2298.21630859375,
                        "z": 364.19384765625
                    },
                    "rotation": {
                        "roll": -0.001434326171875,
                        "pitch": 0.003715622704476118,
                        "yaw": 0.0716712474822998
                    }
                },
                "velocity": {
                    "x": 0.9678663611412048,
                    "y": 0.0033270795829594135,
                    "z": 0.0008945941808633506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.519625663757324,
                "transform": {
                    "location": {
                        "x": 2354.7431640625,
                        "y": 2298.20849609375,
                        "z": 364.13800048828125
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.22701498866081238,
                        "yaw": 0.39579349756240845
                    }
                },
                "velocity": {
                    "x": 2.519541025161743,
                    "y": 0.01013870257884264,
                    "z": -0.01797713153064251
                },
                "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": 0.09658576548099518,
        "expert_target_speed": 5.710584472320459,
        "target_point": [
            15.891658210726433,
            13.843599560191063
        ],
        "target_point_next": [
            15.64382440905428,
            45.8427309724415
        ]
    },
    "90": {
        "acceleration": [
            -2.546534538269043,
            0.046260952949523926,
            0.03475300967693329
        ],
        "angular_velocity": [
            -0.014790000393986702,
            0.4022641181945801,
            -0.05813499167561531
        ],
        "forward_vector": [
            0.9998821020126343,
            -0.010749795474112034,
            -0.01096393447369337
        ],
        "right_vector": [
            0.010751796886324883,
            0.9999421834945679,
            0.0001235632662428543
        ],
        "location": [
            2370.36181640625,
            2298.0390625,
            364.0162353515625
        ],
        "rotation": [
            -0.007080078590661287,
            -0.6281997561454773,
            -0.615966796875
        ],
        "velocity": [
            3.945558786392212,
            -0.03334646672010422,
            -0.029564738273620605
        ],
        "speed": 3.9456997001443863,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.32904052734375,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.29052734375,
                2328.47412109375,
                364.65618896484375
            ],
            "velocity": [
                -0.023505426943302155,
                -5.514245510101318,
                -0.1315167248249054
            ],
            "speed_kmh": 19.857109431833575,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2440.45361328125,
                        "y": 2295.708984375,
                        "z": 363.41064453125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7439236640930176,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.247199535369873,
                "transform": {
                    "location": {
                        "x": 2388.303955078125,
                        "y": 2350.856689453125,
                        "z": 365.1917419433594
                    },
                    "rotation": {
                        "roll": -0.005645837634801865,
                        "pitch": -1.3840011358261108,
                        "yaw": -90.04235076904297
                    }
                },
                "velocity": {
                    "x": 0.015150981023907661,
                    "y": -3.2461395263671875,
                    "z": -0.08156564831733704
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.328804969787598,
                "transform": {
                    "location": {
                        "x": 2424.186279296875,
                        "y": 2295.30126953125,
                        "z": 363.478271484375
                    },
                    "rotation": {
                        "roll": 0.01814170926809311,
                        "pitch": 1.049315094947815,
                        "yaw": -178.495361328125
                    }
                },
                "velocity": {
                    "x": -8.32553482055664,
                    "y": -0.21009500324726105,
                    "z": 0.1016101986169815
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.51586389541626,
                "transform": {
                    "location": {
                        "x": 2388.29052734375,
                        "y": 2328.47412109375,
                        "z": 364.65618896484375
                    },
                    "rotation": {
                        "roll": -0.001098725013434887,
                        "pitch": -1.436579942703247,
                        "yaw": -90.24333953857422
                    }
                },
                "velocity": {
                    "x": -0.023505426943302155,
                    "y": -5.514245510101318,
                    "z": -0.1315167248249054
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.023022651672363,
                "transform": {
                    "location": {
                        "x": 2405.252197265625,
                        "y": 2294.873291015625,
                        "z": 363.7010498046875
                    },
                    "rotation": {
                        "roll": -0.007629393599927425,
                        "pitch": 0.6358973979949951,
                        "yaw": -178.44398498535156
                    }
                },
                "velocity": {
                    "x": -8.015795707702637,
                    "y": -0.3279516100883484,
                    "z": 0.09144697338342667
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0010391302639618516,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -5.163156856724527e-06,
                    "y": -2.3782698917784728e-05,
                    "z": -0.0010388452792540193
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004357702855486423,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 6.213558208401082e-06,
                    "y": -5.0693601224338636e-05,
                    "z": -0.000432767003076151
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.064716100692749,
                "transform": {
                    "location": {
                        "x": 2340.9482421875,
                        "y": 2298.217529296875,
                        "z": 364.194091796875
                    },
                    "rotation": {
                        "roll": -3.051756721106358e-05,
                        "pitch": 0.12560033798217773,
                        "yaw": 0.13397625088691711
                    }
                },
                "velocity": {
                    "x": 2.0647077560424805,
                    "y": 0.00565863773226738,
                    "z": 0.0017411326989531517
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.087648391723633,
                "transform": {
                    "location": {
                        "x": 2355.579345703125,
                        "y": 2298.2119140625,
                        "z": 364.13177490234375
                    },
                    "rotation": {
                        "roll": 0.0015906498301774263,
                        "pitch": -0.13329796493053436,
                        "yaw": 0.31092140078544617
                    }
                },
                "velocity": {
                    "x": 4.087508678436279,
                    "y": 0.013546337373554707,
                    "z": -0.030942024663090706
                },
                "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": 0.10565374791622162,
        "expert_target_speed": 5.139310609042988,
        "target_point": [
            14.85573293130635,
            13.817485975752362
        ],
        "target_point_next": [
            14.658198647917473,
            45.81696742371664
        ]
    },
    "95": {
        "acceleration": [
            -3.002285957336426,
            0.03976505249738693,
            0.0039130449295043945
        ],
        "angular_velocity": [
            0.014425145462155342,
            0.2510378956794739,
            0.9317237734794617
        ],
        "forward_vector": [
            0.9998787641525269,
            -0.009256289340555668,
            -0.012520819902420044
        ],
        "right_vector": [
            0.009257795289158821,
            0.9999571442604065,
            6.23130690655671e-05
        ],
        "location": [
            2371.251708984375,
            2298.031982421875,
            364.00994873046875
        ],
        "rotation": [
            -0.0035705557093024254,
            -0.7174088954925537,
            -0.5303954482078552
        ],
        "velocity": [
            3.2003653049468994,
            -0.022321242839097977,
            -0.024735311046242714
        ],
        "speed": 3.2004431447831942,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.7191276550293,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.284423828125,
                2327.12646484375,
                364.62420654296875
            ],
            "velocity": [
                -0.022844912484288216,
                -5.2873759269714355,
                -0.1259932816028595
            ],
            "speed_kmh": 19.040134333989783,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.455911159515381,
                "transform": {
                    "location": {
                        "x": 2438.482666015625,
                        "y": 2295.6640625,
                        "z": 363.30596923828125
                    },
                    "rotation": {
                        "roll": -0.0325622595846653,
                        "pitch": 0.5806411504745483,
                        "yaw": -178.6498565673828
                    }
                },
                "velocity": {
                    "x": -7.452430248260498,
                    "y": -0.2085605263710022,
                    "z": -0.09163044393062592
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.049809455871582,
                "transform": {
                    "location": {
                        "x": 2388.307373046875,
                        "y": 2349.938720703125,
                        "z": 365.1690979003906
                    },
                    "rotation": {
                        "roll": -0.008972168900072575,
                        "pitch": -1.3891578912734985,
                        "yaw": -89.91216278076172
                    }
                },
                "velocity": {
                    "x": 0.02050747536122799,
                    "y": -4.048552989959717,
                    "z": -0.0987703874707222
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.994943141937256,
                "transform": {
                    "location": {
                        "x": 2422.134521484375,
                        "y": 2295.250244140625,
                        "z": 363.5033264160156
                    },
                    "rotation": {
                        "roll": 0.01088894996792078,
                        "pitch": 0.7474958896636963,
                        "yaw": -178.58421325683594
                    }
                },
                "velocity": {
                    "x": -7.991941452026367,
                    "y": -0.19533607363700867,
                    "z": 0.09916812926530838
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.288926601409912,
                "transform": {
                    "location": {
                        "x": 2388.284423828125,
                        "y": 2327.12646484375,
                        "z": 364.62420654296875
                    },
                    "rotation": {
                        "roll": -0.0002441478136461228,
                        "pitch": -1.422844409942627,
                        "yaw": -90.24571990966797
                    }
                },
                "velocity": {
                    "x": -0.022844912484288216,
                    "y": -5.2873759269714355,
                    "z": -0.1259932816028595
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.095385551452637,
                "transform": {
                    "location": {
                        "x": 2403.238037109375,
                        "y": 2294.779052734375,
                        "z": 363.7234802246094
                    },
                    "rotation": {
                        "roll": 0.009057904593646526,
                        "pitch": 0.6305083632469177,
                        "yaw": -177.02183532714844
                    }
                },
                "velocity": {
                    "x": -8.079865455627441,
                    "y": -0.4931437075138092,
                    "z": 0.08858981728553772
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0003087225486524403,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -8.135789357766043e-07,
                    "y": -4.033490768051706e-05,
                    "z": -0.00030607523513026536
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012727294815704226,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 3.143193680443801e-05,
                    "y": -2.2823065592092462e-05,
                    "z": -0.001272136578336358
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8730320930480957,
                "transform": {
                    "location": {
                        "x": 2341.4638671875,
                        "y": 2298.218505859375,
                        "z": 364.1940612792969
                    },
                    "rotation": {
                        "roll": 0.0011474776547402143,
                        "pitch": -0.018981095403432846,
                        "yaw": 0.009651274420320988
                    }
                },
                "velocity": {
                    "x": 1.8730292320251465,
                    "y": 0.002981003141030669,
                    "z": 0.0012774276547133923
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.393627643585205,
                "transform": {
                    "location": {
                        "x": 2356.785888671875,
                        "y": 2298.215576171875,
                        "z": 364.12298583984375
                    },
                    "rotation": {
                        "roll": 0.0017631815280765295,
                        "pitch": -0.14258019626140594,
                        "yaw": 0.22299665212631226
                    }
                },
                "velocity": {
                    "x": 5.393460750579834,
                    "y": 0.015247498638927937,
                    "z": -0.03958972543478012
                },
                "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": 0.11537743359804153,
        "expert_target_speed": 4.396914075964753,
        "target_point": [
            13.986432146699244,
            13.794126241321012
        ],
        "target_point_next": [
            13.836687818746098,
            45.79386701164554
        ]
    },
    "100": {
        "acceleration": [
            -2.583308219909668,
            0.027915630489587784,
            0.02537347376346588
        ],
        "angular_velocity": [
            0.035534098744392395,
            -0.02779378741979599,
            -0.6309807300567627
        ],
        "forward_vector": [
            0.9998822212219238,
            -0.008244895376265049,
            -0.012944216839969158
        ],
        "right_vector": [
            0.00824589654803276,
            0.999966025352478,
            2.3966435037436895e-05
        ],
        "location": [
            2371.959716796875,
            2298.02734375,
            364.0047302246094
        ],
        "rotation": [
            -0.0013732906663790345,
            -0.7416697144508362,
            -0.4724426567554474
        ],
        "velocity": [
            2.510725259780884,
            -0.014347673393785954,
            -0.019641002640128136
        ],
        "speed": 2.510766254718587,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.24678421020508,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.27880859375,
                2325.833740234375,
                364.5934753417969
            ],
            "velocity": [
                -0.022838260978460312,
                -5.050403118133545,
                -0.12000466138124466
            ],
            "speed_kmh": 18.1867690069731,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.208789348602295,
                "transform": {
                    "location": {
                        "x": 2436.651611328125,
                        "y": 2295.608154296875,
                        "z": 363.3203430175781
                    },
                    "rotation": {
                        "roll": -0.0184631310403347,
                        "pitch": 0.6940769553184509,
                        "yaw": -178.26800537109375
                    }
                },
                "velocity": {
                    "x": -7.204400539398193,
                    "y": -0.23283393681049347,
                    "z": 0.09508498758077621
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.848418235778809,
                "transform": {
                    "location": {
                        "x": 2388.312255859375,
                        "y": 2348.82421875,
                        "z": 365.1417236328125
                    },
                    "rotation": {
                        "roll": -0.011566203087568283,
                        "pitch": -1.3866853713989258,
                        "yaw": -89.80767822265625
                    }
                },
                "velocity": {
                    "x": 0.02597396820783615,
                    "y": -4.846879482269287,
                    "z": -0.11935126036405563
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.928225040435791,
                "transform": {
                    "location": {
                        "x": 2420.165771484375,
                        "y": 2295.203369140625,
                        "z": 363.5276184082031
                    },
                    "rotation": {
                        "roll": 0.01140910666435957,
                        "pitch": 0.7073001861572266,
                        "yaw": -178.64202880859375
                    }
                },
                "velocity": {
                    "x": -7.925536155700684,
                    "y": -0.18258659541606903,
                    "z": 0.09638364613056183
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.0518798828125,
                "transform": {
                    "location": {
                        "x": 2388.27880859375,
                        "y": 2325.833740234375,
                        "z": 364.5934753417969
                    },
                    "rotation": {
                        "roll": -0.0002747862890828401,
                        "pitch": -1.4220248460769653,
                        "yaw": -90.25135803222656
                    }
                },
                "velocity": {
                    "x": -0.022838260978460312,
                    "y": -5.050403118133545,
                    "z": -0.12000466138124466
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.034767150878906,
                "transform": {
                    "location": {
                        "x": 2401.226318359375,
                        "y": 2294.6533203125,
                        "z": 363.74542236328125
                    },
                    "rotation": {
                        "roll": 0.021760066971182823,
                        "pitch": 0.6283910274505615,
                        "yaw": -176.1664276123047
                    }
                },
                "velocity": {
                    "x": -8.014857292175293,
                    "y": -0.5585622191429138,
                    "z": 0.08691389113664627
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000933236675336957,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 1.1698255093506305e-06,
                    "y": -2.4494825993315317e-05,
                    "z": -0.00093291443772614
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009515526471659541,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -1.7841379303717986e-05,
                    "y": -3.564670623745769e-05,
                    "z": -0.0009507173090241849
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5476956367492676,
                "transform": {
                    "location": {
                        "x": 2341.998779296875,
                        "y": 2298.21875,
                        "z": 364.1942443847656
                    },
                    "rotation": {
                        "roll": 0.0006631589494645596,
                        "pitch": 0.013175434432923794,
                        "yaw": -0.02926635555922985
                    }
                },
                "velocity": {
                    "x": 2.5476908683776855,
                    "y": 0.004725189413875341,
                    "z": 0.0014757919125258923
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.7081522941589355,
                "transform": {
                    "location": {
                        "x": 2358.1845703125,
                        "y": 2298.21923828125,
                        "z": 364.1123352050781
                    },
                    "rotation": {
                        "roll": 0.002039390616118908,
                        "pitch": -0.3111902177333832,
                        "yaw": 0.12365896999835968
                    }
                },
                "velocity": {
                    "x": 5.707981586456299,
                    "y": 0.011675933375954628,
                    "z": -0.04257378354668617
                },
                "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": 0.13637593388557434,
        "expert_target_speed": 3.70879174712277,
        "target_point": [
            13.292355629490647,
            13.778772626129799
        ],
        "target_point_next": [
            13.174978816711358,
            45.77864849175693
        ]
    },
    "105": {
        "acceleration": [
            -1.121358871459961,
            0.010116137564182281,
            0.006122775375843048
        ],
        "angular_velocity": [
            -0.014362692832946777,
            -0.41753169894218445,
            1.1787338256835938
        ],
        "forward_vector": [
            0.9999004006385803,
            -0.007182486820966005,
            -0.012147961184382439
        ],
        "right_vector": [
            0.007182937581092119,
            0.9999741911888123,
            -6.520367151097162e-06
        ],
        "location": [
            2372.51611328125,
            2298.02392578125,
            364.0003967285156
        ],
        "rotation": [
            0.0003736170765478164,
            -0.6960440278053284,
            -0.4115600883960724
        ],
        "velocity": [
            2.0308263301849365,
            -0.00965548399835825,
            -0.01633610762655735
        ],
        "speed": 2.030849283364883,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.944259643554688,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.273193359375,
                2324.64990234375,
                364.5651550292969
            ],
            "velocity": [
                -0.01852334477007389,
                -4.331697463989258,
                -0.10288947820663452
            ],
            "speed_kmh": 15.598651811298074,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.016908168792725,
                "transform": {
                    "location": {
                        "x": 2434.833740234375,
                        "y": 2295.551513671875,
                        "z": 363.344482421875
                    },
                    "rotation": {
                        "roll": 0.015608899295330048,
                        "pitch": 0.7132492661476135,
                        "yaw": -178.24319458007812
                    }
                },
                "velocity": {
                    "x": -7.0132670402526855,
                    "y": -0.20571868121623993,
                    "z": 0.09363849461078644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.405834197998047,
                "transform": {
                    "location": {
                        "x": 2388.318603515625,
                        "y": 2347.53076171875,
                        "z": 365.1103820800781
                    },
                    "rotation": {
                        "roll": -0.012542683631181717,
                        "pitch": -1.388672947883606,
                        "yaw": -89.73670196533203
                    }
                },
                "velocity": {
                    "x": 0.02999400533735752,
                    "y": -5.404114723205566,
                    "z": -0.1329997181892395
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.150967597961426,
                "transform": {
                    "location": {
                        "x": 2418.143310546875,
                        "y": 2295.157958984375,
                        "z": 363.5523986816406
                    },
                    "rotation": {
                        "roll": 0.007680580485612154,
                        "pitch": 0.7449345588684082,
                        "yaw": -178.7049560546875
                    }
                },
                "velocity": {
                    "x": -8.148316383361816,
                    "y": -0.18215978145599365,
                    "z": 0.1002001166343689
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.332958698272705,
                "transform": {
                    "location": {
                        "x": 2388.273193359375,
                        "y": 2324.64990234375,
                        "z": 364.5651550292969
                    },
                    "rotation": {
                        "roll": -0.0024719545617699623,
                        "pitch": -1.5174835920333862,
                        "yaw": -90.17821502685547
                    }
                },
                "velocity": {
                    "x": -0.01852334477007389,
                    "y": -4.331697463989258,
                    "z": -0.10288947820663452
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.061905860900879,
                "transform": {
                    "location": {
                        "x": 2399.2197265625,
                        "y": 2294.502197265625,
                        "z": 363.76715087890625
                    },
                    "rotation": {
                        "roll": 0.003685635980218649,
                        "pitch": 0.6027368307113647,
                        "yaw": -175.37313842773438
                    }
                },
                "velocity": {
                    "x": -8.018158912658691,
                    "y": -0.8345034718513489,
                    "z": 0.08400390297174454
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004640056868083775,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -7.315892617043573e-06,
                    "y": -3.623247175710276e-05,
                    "z": -0.00046253102482296526
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00045344140380620956,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -2.539074012020137e-05,
                    "y": -4.007011739304289e-05,
                    "z": -0.0004509532009251416
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8923962116241455,
                "transform": {
                    "location": {
                        "x": 2342.797607421875,
                        "y": 2298.220947265625,
                        "z": 364.1938171386719
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": 0.11260249465703964,
                        "yaw": 0.04357133433222771
                    }
                },
                "velocity": {
                    "x": 3.892381429672241,
                    "y": 0.00930054672062397,
                    "z": -0.0053137303330004215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.2327375411987305,
                "transform": {
                    "location": {
                        "x": 2359.70849609375,
                        "y": 2298.221923828125,
                        "z": 364.1008605957031
                    },
                    "rotation": {
                        "roll": 0.003795717377215624,
                        "pitch": -0.31750816106796265,
                        "yaw": 0.07497616112232208
                    }
                },
                "velocity": {
                    "x": 6.232553005218506,
                    "y": 0.0051870690658688545,
                    "z": -0.04766317829489708
                },
                "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": 0.19143043458461761,
        "expert_target_speed": 3.22952417985727,
        "target_point": [
            12.75058319956157,
            13.764061273779406
        ],
        "target_point_next": [
            12.667210526169583,
            45.76404380079112
        ]
    },
    "110": {
        "acceleration": [
            0.24715185165405273,
            0.03505060449242592,
            0.0034391507506370544
        ],
        "angular_velocity": [
            0.02311038412153721,
            -0.5702621936798096,
            -0.6038750410079956
        ],
        "forward_vector": [
            0.999932587146759,
            -0.0063028279691934586,
            -0.009755455888807774
        ],
        "right_vector": [
            0.00630372017621994,
            0.9999801516532898,
            6.071717507438734e-05
        ],
        "location": [
            2373.01171875,
            2298.022216796875,
            363.99603271484375
        ],
        "rotation": [
            -0.0034790034405887127,
            -0.5589553117752075,
            -0.36114501953125
        ],
        "velocity": [
            1.9762647151947021,
            -0.0037375628016889095,
            -0.013928508386015892
        ],
        "speed": 1.9762682494791273,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.73374366760254,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.268798828125,
                2323.537353515625,
                364.5389404296875
            ],
            "velocity": [
                -0.019385142251849174,
                -4.853285312652588,
                -0.11412607878446579
            ],
            "speed_kmh": 17.476796450609648,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.964650630950928,
                "transform": {
                    "location": {
                        "x": 2433.274658203125,
                        "y": 2295.507080078125,
                        "z": 363.3645935058594
                    },
                    "rotation": {
                        "roll": 0.01216110959649086,
                        "pitch": 0.5746920704841614,
                        "yaw": -178.3533935546875
                    }
                },
                "velocity": {
                    "x": -5.9618401527404785,
                    "y": -0.16656933724880219,
                    "z": 0.07600774616003036
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.986619472503662,
                "transform": {
                    "location": {
                        "x": 2388.325439453125,
                        "y": 2346.081787109375,
                        "z": 365.0748291015625
                    },
                    "rotation": {
                        "roll": -0.01303112506866455,
                        "pitch": -1.3872318267822266,
                        "yaw": -89.7365951538086
                    }
                },
                "velocity": {
                    "x": 0.016834527254104614,
                    "y": -5.98479700088501,
                    "z": -0.14674849808216095
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.967337131500244,
                "transform": {
                    "location": {
                        "x": 2416.131103515625,
                        "y": 2295.113037109375,
                        "z": 363.5770568847656
                    },
                    "rotation": {
                        "roll": 0.0045183030888438225,
                        "pitch": 0.6906276941299438,
                        "yaw": -178.72740173339844
                    }
                },
                "velocity": {
                    "x": -7.964750289916992,
                    "y": -0.17707034945487976,
                    "z": 0.09930986166000366
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.854665756225586,
                "transform": {
                    "location": {
                        "x": 2388.268798828125,
                        "y": 2323.537353515625,
                        "z": 364.5389404296875
                    },
                    "rotation": {
                        "roll": -0.002563496818765998,
                        "pitch": -1.321498155593872,
                        "yaw": -90.20767974853516
                    }
                },
                "velocity": {
                    "x": -0.019385142251849174,
                    "y": -4.853285312652588,
                    "z": -0.11412607878446579
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.981762409210205,
                "transform": {
                    "location": {
                        "x": 2397.238037109375,
                        "y": 2294.212158203125,
                        "z": 363.78759765625
                    },
                    "rotation": {
                        "roll": 0.0048677814193069935,
                        "pitch": 0.5707510709762573,
                        "yaw": -170.4312286376953
                    }
                },
                "velocity": {
                    "x": -7.760075569152832,
                    "y": -1.8663866519927979,
                    "z": 0.07974907010793686
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.729683809680864e-05,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.0621047294989694e-06,
                    "y": -4.694640665547922e-05,
                    "z": -4.820550748263486e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001263716141693294,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -4.762597200169694e-06,
                    "y": -2.99605726468144e-05,
                    "z": -0.0012633519945666194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.295627117156982,
                "transform": {
                    "location": {
                        "x": 2343.955810546875,
                        "y": 2298.22314453125,
                        "z": 364.19195556640625
                    },
                    "rotation": {
                        "roll": 0.00021211335842963308,
                        "pitch": 0.11659131944179535,
                        "yaw": 0.09582916647195816
                    }
                },
                "velocity": {
                    "x": 5.29561185836792,
                    "y": 0.008797569200396538,
                    "z": -0.009109992533922195
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.14491167664527893,
                "transform": {
                    "location": {
                        "x": 2360.4765625,
                        "y": 2298.22314453125,
                        "z": 364.0944519042969
                    },
                    "rotation": {
                        "roll": 0.010708644054830074,
                        "pitch": -1.341401219367981,
                        "yaw": -0.1316528171300888
                    }
                },
                "velocity": {
                    "x": 0.14490225911140442,
                    "y": 0.001476986799389124,
                    "z": -0.0007385063217952847
                },
                "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": 0.2624606788158417,
        "expert_target_speed": 3.1749835640989548,
        "target_point": [
            12.267082640777504,
            13.751422012777276
        ],
        "target_point_next": [
            12.211866261169192,
            45.75146551092188
        ]
    },
    "115": {
        "acceleration": [
            1.3901996612548828,
            0.0660838931798935,
            -0.014813411980867386
        ],
        "angular_velocity": [
            0.044737137854099274,
            -0.5290289521217346,
            1.627658486366272
        ],
        "forward_vector": [
            0.9999663829803467,
            -0.0036905009765177965,
            -0.007326298393309116
        ],
        "right_vector": [
            0.003692507976666093,
            0.9999931454658508,
            0.00026045014965347946
        ],
        "location": [
            2373.532470703125,
            2298.0224609375,
            363.99163818359375
        ],
        "rotation": [
            -0.01492309384047985,
            -0.4197697341442108,
            -0.2114562839269638
        ],
        "velocity": [
            2.216245651245117,
            0.011480177752673626,
            -0.01558886468410492
        ],
        "speed": 2.216275384771515,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.45972442626953,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.263671875,
                2322.367431640625,
                364.51123046875
            ],
            "velocity": [
                -0.018010584637522697,
                -4.324312210083008,
                -0.10266079753637314
            ],
            "speed_kmh": 15.572045294428888,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.198729515075684,
                "transform": {
                    "location": {
                        "x": 2431.768310546875,
                        "y": 2295.4658203125,
                        "z": 363.3839111328125
                    },
                    "rotation": {
                        "roll": 0.00880788266658783,
                        "pitch": 0.7039670944213867,
                        "yaw": -178.40538024902344
                    }
                },
                "velocity": {
                    "x": -6.195892810821533,
                    "y": -0.1701110303401947,
                    "z": 0.07887855172157288
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.273158550262451,
                "transform": {
                    "location": {
                        "x": 2388.3291015625,
                        "y": 2344.409423828125,
                        "z": 365.0339050292969
                    },
                    "rotation": {
                        "roll": -0.008422967977821827,
                        "pitch": -1.3710920810699463,
                        "yaw": -89.87523651123047
                    }
                },
                "velocity": {
                    "x": 0.005524907726794481,
                    "y": -7.271036624908447,
                    "z": -0.1755981594324112
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.043550491333008,
                "transform": {
                    "location": {
                        "x": 2414.134765625,
                        "y": 2295.069580078125,
                        "z": 363.6016845703125
                    },
                    "rotation": {
                        "roll": 0.004570665303617716,
                        "pitch": 0.7176547646522522,
                        "yaw": -178.75523376464844
                    }
                },
                "velocity": {
                    "x": -8.041078567504883,
                    "y": -0.1725536733865738,
                    "z": 0.09992782026529312
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.325568199157715,
                "transform": {
                    "location": {
                        "x": 2388.263671875,
                        "y": 2322.367431640625,
                        "z": 364.51123046875
                    },
                    "rotation": {
                        "roll": -0.0012206340907141566,
                        "pitch": -1.4264507293701172,
                        "yaw": -90.22618865966797
                    }
                },
                "velocity": {
                    "x": -0.018010584637522697,
                    "y": -4.324312210083008,
                    "z": -0.10266079753637314
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.039320945739746,
                "transform": {
                    "location": {
                        "x": 2395.33154296875,
                        "y": 2293.635498046875,
                        "z": 363.8069152832031
                    },
                    "rotation": {
                        "roll": 0.06347574293613434,
                        "pitch": 0.5406709313392639,
                        "yaw": -160.74900817871094
                    }
                },
                "velocity": {
                    "x": -7.313626766204834,
                    "y": -3.3371214866638184,
                    "z": 0.07179206609725952
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00037356754182837903,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 3.506203483993886e-06,
                    "y": -3.867939085466787e-05,
                    "z": -0.0003715431666933
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005129034980200231,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -1.8390443074167706e-05,
                    "y": -3.977030428359285e-05,
                    "z": -0.0005110284546390176
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.800522327423096,
                "transform": {
                    "location": {
                        "x": 2345.35400390625,
                        "y": 2298.225341796875,
                        "z": 364.1883850097656
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": -0.0522167943418026,
                        "yaw": 0.13148854672908783
                    }
                },
                "velocity": {
                    "x": 5.8004961013793945,
                    "y": 0.010523643344640732,
                    "z": -0.01388451550155878
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5545769929885864,
                "transform": {
                    "location": {
                        "x": 2360.667236328125,
                        "y": 2298.22314453125,
                        "z": 364.09332275390625
                    },
                    "rotation": {
                        "roll": 0.004508684389293194,
                        "pitch": -0.5102834105491638,
                        "yaw": -0.1341552585363388
                    }
                },
                "velocity": {
                    "x": 1.5545412302017212,
                    "y": -0.0018712058663368225,
                    "z": -0.010382232256233692
                },
                "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": 0.3370010554790497,
        "expert_target_speed": 3.4147157792649225,
        "target_point": [
            11.782220067399274,
            13.717160251873386
        ],
        "target_point_next": [
            11.810606800043262,
            45.7172387974822
        ]
    },
    "120": {
        "acceleration": [
            1.9177007675170898,
            0.13153806328773499,
            -0.012694448232650757
        ],
        "angular_velocity": [
            0.029599042609333992,
            -0.3519095182418823,
            0.638515293598175
        ],
        "forward_vector": [
            0.9999850392341614,
            0.0010153648909181356,
            -0.005368922371417284
        ],
        "right_vector": [
            -0.0010124482214450836,
            0.9999992847442627,
            0.0005459401872940361
        ],
        "location": [
            2374.141845703125,
            2298.028076171875,
            363.98663330078125
        ],
        "rotation": [
            -0.031280517578125,
            -0.30761805176734924,
            0.05817696824669838
        ],
        "velocity": [
            2.652998685836792,
            0.03953685611486435,
            -0.018694385886192322
        ],
        "speed": 2.65329327252816,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.223976135253906,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.2587890625,
                2321.300537109375,
                364.4859924316406
            ],
            "velocity": [
                -0.019234247505664825,
                -4.307409763336182,
                -0.10138466954231262
            ],
            "speed_kmh": 15.511124481837482,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.4583435058594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15185558795928955,
                        "yaw": -0.0448608361184597
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.430994033813477,
                "transform": {
                    "location": {
                        "x": 2429.87255859375,
                        "y": 2295.416259765625,
                        "z": 363.4078063964844
                    },
                    "rotation": {
                        "roll": 0.017163686454296112,
                        "pitch": 1.0512548685073853,
                        "yaw": -178.5156707763672
                    }
                },
                "velocity": {
                    "x": -8.427741050720215,
                    "y": -0.2094929963350296,
                    "z": 0.10472463071346283
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.093660354614258,
                "transform": {
                    "location": {
                        "x": 2388.33056640625,
                        "y": 2342.480224609375,
                        "z": 364.987060546875
                    },
                    "rotation": {
                        "roll": -0.007232672069221735,
                        "pitch": -1.3686468601226807,
                        "yaw": -89.96678924560547
                    }
                },
                "velocity": {
                    "x": 0.0011303615756332874,
                    "y": -8.091269493103027,
                    "z": -0.19671130180358887
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05605697631836,
                "transform": {
                    "location": {
                        "x": 2412.1181640625,
                        "y": 2295.026611328125,
                        "z": 363.62615966796875
                    },
                    "rotation": {
                        "roll": 0.0011737437453120947,
                        "pitch": 0.7019863128662109,
                        "yaw": -178.77459716796875
                    }
                },
                "velocity": {
                    "x": -8.053622245788574,
                    "y": -0.17226049304008484,
                    "z": 0.09773667901754379
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.308645725250244,
                "transform": {
                    "location": {
                        "x": 2388.2587890625,
                        "y": 2321.300537109375,
                        "z": 364.4859924316406
                    },
                    "rotation": {
                        "roll": -0.000549297546967864,
                        "pitch": -1.3873889446258545,
                        "yaw": -90.23961639404297
                    }
                },
                "velocity": {
                    "x": -0.019234247505664825,
                    "y": -4.307409763336182,
                    "z": -0.10138466954231262
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.026837348937988,
                "transform": {
                    "location": {
                        "x": 2393.556884765625,
                        "y": 2292.7119140625,
                        "z": 363.823974609375
                    },
                    "rotation": {
                        "roll": 0.21623921394348145,
                        "pitch": 0.44793060421943665,
                        "yaw": -149.3607635498047
                    }
                },
                "velocity": {
                    "x": -6.519017219543457,
                    "y": -4.683013439178467,
                    "z": 0.04384678602218628
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000457133719464764,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -7.945927791297436e-06,
                    "y": -4.1416733438381925e-05,
                    "z": -0.0004551843157969415
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0014668699586763978,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -8.0350155258202e-06,
                    "y": -2.2380201698979363e-05,
                    "z": -0.0014666771749034524
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.287919044494629,
                "transform": {
                    "location": {
                        "x": 2346.96923828125,
                        "y": 2298.228271484375,
                        "z": 364.1837463378906
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.005033849272876978,
                        "yaw": 0.1911521553993225
                    }
                },
                "velocity": {
                    "x": 7.28785514831543,
                    "y": 0.015026475302875042,
                    "z": -0.02664078213274479
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2716987133026123,
                "transform": {
                    "location": {
                        "x": 2361.196533203125,
                        "y": 2298.22314453125,
                        "z": 364.0894775390625
                    },
                    "rotation": {
                        "roll": 0.0005560107529163361,
                        "pitch": -0.3172281086444855,
                        "yaw": -0.1021118089556694
                    }
                },
                "velocity": {
                    "x": 2.2716293334960938,
                    "y": -0.0009538471349515021,
                    "z": -0.01773650199174881
                },
                "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": 0.47481992840766907,
        "expert_target_speed": 3.851045434935698,
        "target_point": [
            11.237260645756892,
            13.656566047519854
        ],
        "target_point_next": [
            11.416235867154182,
            45.656156679305276
        ]
    },
    "125": {
        "acceleration": [
            2.2141027450561523,
            0.14409750699996948,
            -0.01201879233121872
        ],
        "angular_velocity": [
            0.04743262007832527,
            -0.19802643358707428,
            2.483001232147217
        ],
        "forward_vector": [
            0.9999551177024841,
            0.008497639559209347,
            -0.004186379723250866
        ],
        "right_vector": [
            -0.008494368754327297,
            0.9999635815620422,
            0.0007984085823409259
        ],
        "location": [
            2374.872314453125,
            2298.041259765625,
            363.9809265136719
        ],
        "rotation": [
            -0.0457458458840847,
            -0.2398625761270523,
            0.4868890047073364
        ],
        "velocity": [
            3.1775097846984863,
            0.07500742375850677,
            -0.022755656391382217
        ],
        "speed": 3.17839496373146,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.958417892456055,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2320.279541015625,
                364.46185302734375
            ],
            "velocity": [
                -0.016957614570856094,
                -3.9501287937164307,
                -0.09352820366621017
            ],
            "speed_kmh": 14.22458018149804,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.053762830793857574,
                "transform": {
                    "location": {
                        "x": 2330.923095703125,
                        "y": 2298.15380859375,
                        "z": 364.1174621582031
                    },
                    "rotation": {
                        "roll": 0.00038844632217660546,
                        "pitch": 0.1533035933971405,
                        "yaw": -0.04486083984375
                    }
                },
                "velocity": {
                    "x": 0.00013341484009288251,
                    "y": -7.573851326014847e-05,
                    "z": -0.053762611001729965
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.789711952209473,
                "transform": {
                    "location": {
                        "x": 2427.832763671875,
                        "y": 2295.366455078125,
                        "z": 363.4330749511719
                    },
                    "rotation": {
                        "roll": 0.010215764865279198,
                        "pitch": 0.7110909819602966,
                        "yaw": -178.5952911376953
                    }
                },
                "velocity": {
                    "x": -7.786860942840576,
                    "y": -0.18681737780570984,
                    "z": 0.097516268491745
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.123748779296875,
                "transform": {
                    "location": {
                        "x": 2388.330078125,
                        "y": 2340.42578125,
                        "z": 364.9373779296875
                    },
                    "rotation": {
                        "roll": -0.0044555505737662315,
                        "pitch": -1.387689471244812,
                        "yaw": -90.0389175415039
                    }
                },
                "velocity": {
                    "x": -0.012593265622854233,
                    "y": -8.121353149414062,
                    "z": -0.19688360393047333
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.0071439743042,
                "transform": {
                    "location": {
                        "x": 2410.11376953125,
                        "y": 2294.983642578125,
                        "z": 363.6502380371094
                    },
                    "rotation": {
                        "roll": 0.0007805018685758114,
                        "pitch": 0.6790847182273865,
                        "yaw": -178.77981567382812
                    }
                },
                "velocity": {
                    "x": -8.004779815673828,
                    "y": -0.16908618807792664,
                    "z": 0.09627792239189148
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.9512722492218018,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2320.279541015625,
                        "z": 364.46185302734375
                    },
                    "rotation": {
                        "roll": 0.00028017780277878046,
                        "pitch": -1.4254467487335205,
                        "yaw": -90.24654388427734
                    }
                },
                "velocity": {
                    "x": -0.016957614570856094,
                    "y": -3.9501287937164307,
                    "z": -0.09352820366621017
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.064793586730957,
                "transform": {
                    "location": {
                        "x": 2391.987548828125,
                        "y": 2291.472412109375,
                        "z": 363.81988525390625
                    },
                    "rotation": {
                        "roll": 1.6141889095306396,
                        "pitch": -0.5180014967918396,
                        "yaw": -138.52276611328125
                    }
                },
                "velocity": {
                    "x": -5.572632312774658,
                    "y": -5.827164173126221,
                    "z": -0.17558440566062927
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011954880319535732,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.0891882084251847e-05,
                    "y": -1.8074511899612844e-05,
                    "z": -0.0011953017674386501
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007405888754874468,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 1.4618714203606942e-06,
                    "y": -4.4252275984035805e-05,
                    "z": -0.0007392641273327172
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.669551372528076,
                "transform": {
                    "location": {
                        "x": 2348.869873046875,
                        "y": 2298.23193359375,
                        "z": 364.1745910644531
                    },
                    "rotation": {
                        "roll": 0.0025170876178890467,
                        "pitch": -0.19005683064460754,
                        "yaw": 0.08169566094875336
                    }
                },
                "velocity": {
                    "x": 7.669450283050537,
                    "y": 0.008995892480015755,
                    "z": -0.03836674988269806
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7699941992759705,
                "transform": {
                    "location": {
                        "x": 2361.393798828125,
                        "y": 2298.222900390625,
                        "z": 364.0879211425781
                    },
                    "rotation": {
                        "roll": -0.002166748046875,
                        "pitch": -0.6061724424362183,
                        "yaw": 0.06512459367513657
                    }
                },
                "velocity": {
                    "x": 0.7699764370918274,
                    "y": -9.275474440073594e-05,
                    "z": -0.005232896655797958
                },
                "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": 0.6547048091888428,
        "expert_target_speed": 4.374906945086306,
        "target_point": [
            10.608574740246603,
            13.565126911711088
        ],
        "target_point_next": [
            11.026976757613562,
            45.562482622512995
        ]
    },
    "130": {
        "acceleration": [
            2.0457077026367188,
            0.2640952169895172,
            -0.01690167933702469
        ],
        "angular_velocity": [
            0.09599614888429642,
            -0.013315368443727493,
            1.856226921081543
        ],
        "forward_vector": [
            0.9998443722724915,
            0.017268488183617592,
            -0.0036111988592892885
        ],
        "right_vector": [
            -0.017264824360609055,
            0.9998503923416138,
            0.001042886869981885
        ],
        "location": [
            2375.739990234375,
            2298.063720703125,
            363.9742736816406
        ],
        "rotation": [
            -0.05975341796875,
            -0.20690691471099854,
            0.9894671440124512
        ],
        "velocity": [
            3.728553295135498,
            0.1228698343038559,
            -0.02731020376086235
        ],
        "speed": 3.730577257053878,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.64496421813965,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.24951171875,
                2319.292724609375,
                364.4385986328125
            ],
            "velocity": [
                -0.018155330792069435,
                -3.8136134147644043,
                -0.09122782200574875
            ],
            "speed_kmh": 13.733091434132511,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.28085312247276306,
                "transform": {
                    "location": {
                        "x": 2330.92724609375,
                        "y": 2298.15380859375,
                        "z": 364.1485900878906
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": 0.15900678932666779,
                        "yaw": -0.0434265173971653
                    }
                },
                "velocity": {
                    "x": 0.2598276138305664,
                    "y": 0.0030451917555183172,
                    "z": 0.10657770186662674
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.474152565002441,
                "transform": {
                    "location": {
                        "x": 2425.954345703125,
                        "y": 2295.322021484375,
                        "z": 363.4564514160156
                    },
                    "rotation": {
                        "roll": 0.006413201801478863,
                        "pitch": 0.6549331545829773,
                        "yaw": -178.6552734375
                    }
                },
                "velocity": {
                    "x": -7.471527576446533,
                    "y": -0.1753227263689041,
                    "z": 0.0921676829457283
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.589641094207764,
                "transform": {
                    "location": {
                        "x": 2388.32666015625,
                        "y": 2338.4677734375,
                        "z": 364.89007568359375
                    },
                    "rotation": {
                        "roll": -0.002471978310495615,
                        "pitch": -1.393057942390442,
                        "yaw": -90.12017059326172
                    }
                },
                "velocity": {
                    "x": -0.018573354929685593,
                    "y": -7.587413311004639,
                    "z": -0.1829395294189453
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.049108505249023,
                "transform": {
                    "location": {
                        "x": 2408.10693359375,
                        "y": 2294.940673828125,
                        "z": 363.6740417480469
                    },
                    "rotation": {
                        "roll": 0.000585004745516926,
                        "pitch": 0.6919869184494019,
                        "yaw": -178.7919464111328
                    }
                },
                "velocity": {
                    "x": -8.046745300292969,
                    "y": -0.16983449459075928,
                    "z": 0.09587480127811432
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.8147475719451904,
                "transform": {
                    "location": {
                        "x": 2388.24951171875,
                        "y": 2319.292724609375,
                        "z": 364.4385986328125
                    },
                    "rotation": {
                        "roll": 0.0001658953697187826,
                        "pitch": -1.404573678970337,
                        "yaw": -90.25387573242188
                    }
                },
                "velocity": {
                    "x": -0.018155330792069435,
                    "y": -3.8136134147644043,
                    "z": -0.09122782200574875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.022339820861816,
                "transform": {
                    "location": {
                        "x": 2390.668701171875,
                        "y": 2289.970947265625,
                        "z": 363.7778015136719
                    },
                    "rotation": {
                        "roll": 0.857473611831665,
                        "pitch": -2.1795337200164795,
                        "yaw": -128.24270629882812
                    }
                },
                "velocity": {
                    "x": -4.536212921142578,
                    "y": -6.61467981338501,
                    "z": -0.16344158351421356
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0002460424730088562,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.9418525880610105e-06,
                    "y": -4.209339385852218e-05,
                    "z": -0.00024240724451374263
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.39420938771218e-05,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -1.2680130794251454e-06,
                    "y": -5.779325874755159e-05,
                    "z": -4.6106022637104616e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.461450099945068,
                "transform": {
                    "location": {
                        "x": 2350.640625,
                        "y": 2298.233154296875,
                        "z": 364.1649475097656
                    },
                    "rotation": {
                        "roll": 0.0018142923945561051,
                        "pitch": -0.4879760146141052,
                        "yaw": 0.05226144194602966
                    }
                },
                "velocity": {
                    "x": 6.4613189697265625,
                    "y": 0.0031078755855560303,
                    "z": -0.04101621359586716
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0703465938568115,
                "transform": {
                    "location": {
                        "x": 2361.76806640625,
                        "y": 2298.222900390625,
                        "z": 364.0851745605469
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": -0.2638843357563019,
                        "yaw": 0.0964755192399025
                    }
                },
                "velocity": {
                    "x": 2.070284128189087,
                    "y": 0.0016782779712229967,
                    "z": -0.015983963385224342
                },
                "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": 0.9320276975631714,
        "expert_target_speed": 4.925143614137111,
        "target_point": [
            9.859219480036499,
            13.464077377088364
        ],
        "target_point_next": [
            10.55827166136298,
            45.45653209346652
        ]
    },
    "135": {
        "acceleration": [
            1.0440540313720703,
            0.7339385151863098,
            -0.022870153188705444
        ],
        "angular_velocity": [
            0.4591357409954071,
            0.27700337767601013,
            4.717470169067383
        ],
        "forward_vector": [
            0.9995092749595642,
            0.031038952991366386,
            -0.0042098634876310825
        ],
        "right_vector": [
            -0.031030168756842613,
            0.9995161890983582,
            0.002136367140337825
        ],
        "location": [
            2376.72314453125,
            2298.104248046875,
            363.9670104980469
        ],
        "rotation": [
            -0.1224059909582138,
            -0.24120812118053436,
            1.7787024974822998
        ],
        "velocity": [
            4.086389541625977,
            0.2342197299003601,
            -0.030095361173152924
        ],
        "speed": 4.093096427862989,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.310983657836914,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.245361328125,
                2318.363525390625,
                364.41656494140625
            ],
            "velocity": [
                -0.01682933233678341,
                -3.7090108394622803,
                -0.08821624517440796
            ],
            "speed_kmh": 13.356352591372538,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2440.52734375,
                        "y": 2295.71044921875,
                        "z": 363.55230712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7638199925422668,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": -2.9953730606990803e-09,
                    "y": -6.183371870083221e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1786515712738037,
                "transform": {
                    "location": {
                        "x": 2331.183349609375,
                        "y": 2298.155517578125,
                        "z": 364.1627502441406
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": 0.19289135932922363,
                        "yaw": 0.09692885726690292
                    }
                },
                "velocity": {
                    "x": 1.1783196926116943,
                    "y": 0.017145130783319473,
                    "z": 0.022098273038864136
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.252012252807617,
                "transform": {
                    "location": {
                        "x": 2423.98828125,
                        "y": 2295.27783203125,
                        "z": 363.4806213378906
                    },
                    "rotation": {
                        "roll": 0.006784930359572172,
                        "pitch": 0.8224161863327026,
                        "yaw": -178.69390869140625
                    }
                },
                "velocity": {
                    "x": -8.249350547790527,
                    "y": -0.18396420776844025,
                    "z": 0.10040941089391708
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.343969821929932,
                "transform": {
                    "location": {
                        "x": 2388.322021484375,
                        "y": 2336.611083984375,
                        "z": 364.8453369140625
                    },
                    "rotation": {
                        "roll": -0.0032654155511409044,
                        "pitch": -1.3883998394012451,
                        "yaw": -90.15338134765625
                    }
                },
                "velocity": {
                    "x": -0.01970115303993225,
                    "y": -7.341794490814209,
                    "z": -0.17764006555080414
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.031900405883789,
                "transform": {
                    "location": {
                        "x": 2406.0966796875,
                        "y": 2294.898193359375,
                        "z": 363.69720458984375
                    },
                    "rotation": {
                        "roll": 0.0012040307046845555,
                        "pitch": 0.6565040946006775,
                        "yaw": -178.7998504638672
                    }
                },
                "velocity": {
                    "x": -8.029614448547363,
                    "y": -0.1680629551410675,
                    "z": 0.09201404452323914
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7100980281829834,
                "transform": {
                    "location": {
                        "x": 2388.245361328125,
                        "y": 2318.363525390625,
                        "z": 364.41656494140625
                    },
                    "rotation": {
                        "roll": -0.00033573908149264753,
                        "pitch": -1.3938298225402832,
                        "yaw": -90.26033020019531
                    }
                },
                "velocity": {
                    "x": -0.01682933233678341,
                    "y": -3.7090108394622803,
                    "z": -0.08821624517440796
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.083157539367676,
                "transform": {
                    "location": {
                        "x": 2389.604736328125,
                        "y": 2288.259765625,
                        "z": 363.712890625
                    },
                    "rotation": {
                        "roll": 0.3006255626678467,
                        "pitch": -1.1789520978927612,
                        "yaw": -118.99686431884766
                    }
                },
                "velocity": {
                    "x": -3.495380401611328,
                    "y": -7.28472900390625,
                    "z": -0.22908104956150055
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.3796222346136346e-05,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.4577422007278074e-06,
                    "y": -4.628613532986492e-05,
                    "z": -2.737703653110657e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011426584096625447,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -9.16429542030528e-07,
                    "y": -3.349557300680317e-05,
                    "z": -0.0011421670205891132
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7568845152854919,
                "transform": {
                    "location": {
                        "x": 2351.5458984375,
                        "y": 2298.2392578125,
                        "z": 364.1578369140625
                    },
                    "rotation": {
                        "roll": 0.001074486062861979,
                        "pitch": -1.0474846363067627,
                        "yaw": -1.1599122285842896
                    }
                },
                "velocity": {
                    "x": 0.756172776222229,
                    "y": 0.03212892636656761,
                    "z": -0.006679629907011986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.649134397506714,
                "transform": {
                    "location": {
                        "x": 2362.490234375,
                        "y": 2298.222900390625,
                        "z": 364.0798034667969
                    },
                    "rotation": {
                        "roll": -0.0007629395113326609,
                        "pitch": -0.14516882598400116,
                        "yaw": 0.0737735852599144
                    }
                },
                "velocity": {
                    "x": 3.649031639099121,
                    "y": 0.0019998063798993826,
                    "z": -0.02731865830719471
                },
                "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": 1.000659704208374,
        "expert_target_speed": 5.2859317996240325,
        "target_point": [
            9.059804084131157,
            13.317004509868845
        ],
        "target_point_next": [
            10.199464159243353,
            45.29679512276872
        ]
    },
    "140": {
        "acceleration": [
            -0.19001007080078125,
            1.8578875064849854,
            0.0035286694765090942
        ],
        "angular_velocity": [
            1.0037670135498047,
            0.5083695650100708,
            13.676902770996094
        ],
        "forward_vector": [
            0.9973214268684387,
            0.07289913296699524,
            -0.005983554758131504
        ],
        "right_vector": [
            -0.07285434007644653,
            0.9973152279853821,
            0.007391137070953846
        ],
        "location": [
            2377.7548828125,
            2298.206787109375,
            363.9595947265625
        ],
        "rotation": [
            -0.4234924018383026,
            -0.3428345024585724,
            4.180595874786377
        ],
        "velocity": [
            4.12522554397583,
            0.6416064500808716,
            -0.03190765902400017
        ],
        "speed": 4.174822705871001,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.939064025878906,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.241455078125,
                2317.472412109375,
                364.3955078125
            ],
            "velocity": [
                -0.01644744910299778,
                -3.450057029724121,
                -0.08222375065088272
            ],
            "speed_kmh": 12.42387319021089,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.450000286102295,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.8828125,
                        "z": 365.3041076660156
                    },
                    "rotation": {
                        "roll": 5.3377039677116045e-08,
                        "pitch": -1.411130666732788,
                        "yaw": -90.2624282836914
                    }
                },
                "velocity": {
                    "x": 3.8045674943809615e-10,
                    "y": 8.306434295946019e-08,
                    "z": -2.450000286102295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.544662594795227,
                "transform": {
                    "location": {
                        "x": 2440.52392578125,
                        "y": 2295.71044921875,
                        "z": 363.1836242675781
                    },
                    "rotation": {
                        "roll": 0.0006619339692406356,
                        "pitch": 0.7775213718414307,
                        "yaw": -178.81748962402344
                    }
                },
                "velocity": {
                    "x": -0.0071425954811275005,
                    "y": -0.00014717396697960794,
                    "z": -0.5446157455444336
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4759278297424316,
                "transform": {
                    "location": {
                        "x": 2331.628662109375,
                        "y": 2298.161865234375,
                        "z": 364.1656188964844
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": 0.23173464834690094,
                        "yaw": 0.19004133343696594
                    }
                },
                "velocity": {
                    "x": 2.475745439529419,
                    "y": 0.028499027714133263,
                    "z": 0.009529228322207928
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.705550193786621,
                "transform": {
                    "location": {
                        "x": 2421.973876953125,
                        "y": 2295.2333984375,
                        "z": 363.5052795410156
                    },
                    "rotation": {
                        "roll": 0.004575544036924839,
                        "pitch": 0.6588536500930786,
                        "yaw": -178.75390625
                    }
                },
                "velocity": {
                    "x": -7.703132152557373,
                    "y": -0.1679881066083908,
                    "z": 0.09506664425134659
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.432666301727295,
                "transform": {
                    "location": {
                        "x": 2388.31640625,
                        "y": 2334.899658203125,
                        "z": 364.80419921875
                    },
                    "rotation": {
                        "roll": -0.0024719289503991604,
                        "pitch": -1.3966916799545288,
                        "yaw": -90.18438720703125
                    }
                },
                "velocity": {
                    "x": -0.023331990465521812,
                    "y": -6.430777549743652,
                    "z": -0.15410664677619934
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.440058708190918,
                "transform": {
                    "location": {
                        "x": 2404.13818359375,
                        "y": 2294.814208984375,
                        "z": 363.7193298339844
                    },
                    "rotation": {
                        "roll": -0.09307859092950821,
                        "pitch": 0.5395029783248901,
                        "yaw": -177.4320068359375
                    }
                },
                "velocity": {
                    "x": -7.429161071777344,
                    "y": -0.3938438594341278,
                    "z": 0.08324285596609116
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.451075792312622,
                "transform": {
                    "location": {
                        "x": 2388.241455078125,
                        "y": 2317.472412109375,
                        "z": 364.3955078125
                    },
                    "rotation": {
                        "roll": 0.000910132541321218,
                        "pitch": -1.4129270315170288,
                        "yaw": -90.2585678100586
                    }
                },
                "velocity": {
                    "x": -0.01644744910299778,
                    "y": -3.450057029724121,
                    "z": -0.08222375065088272
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.974920272827148,
                "transform": {
                    "location": {
                        "x": 2388.821533203125,
                        "y": 2286.413330078125,
                        "z": 363.6689758300781
                    },
                    "rotation": {
                        "roll": 0.32675760984420776,
                        "pitch": -1.1723881959915161,
                        "yaw": -110.50916290283203
                    }
                },
                "velocity": {
                    "x": -2.165952444076538,
                    "y": -7.673531532287598,
                    "z": -0.15785905718803406
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004870028351433575,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 7.787394679326098e-06,
                    "y": -3.4941731428261846e-05,
                    "z": -0.0004856853047385812
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00037534337025135756,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -3.362405186635442e-05,
                    "y": -5.115121530252509e-05,
                    "z": -0.00037031827378086746
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8265974521636963,
                "transform": {
                    "location": {
                        "x": 2351.638427734375,
                        "y": 2298.239013671875,
                        "z": 364.15777587890625
                    },
                    "rotation": {
                        "roll": 0.013861492276191711,
                        "pitch": -0.5601779222488403,
                        "yaw": -1.1168212890625
                    }
                },
                "velocity": {
                    "x": 0.8265703320503235,
                    "y": -0.004138770047575235,
                    "z": -0.005264816340059042
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.113071441650391,
                "transform": {
                    "location": {
                        "x": 2363.596435546875,
                        "y": 2298.222900390625,
                        "z": 364.0716247558594
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": -0.12780649960041046,
                        "yaw": 0.049495402723550797
                    }
                },
                "velocity": {
                    "x": 5.112967014312744,
                    "y": 0.0024322594981640577,
                    "z": -0.03259667754173279
                },
                "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": 0.9986931085586548,
        "expert_target_speed": 5.347316811070123,
        "target_point": [
            8.573475236600952,
            12.898567734610255
        ],
        "target_point_next": [
            11.052366854290208,
            44.802500549852226
        ]
    },
    "145": {
        "acceleration": [
            -0.4224872589111328,
            1.807396411895752,
            -0.010716989636421204
        ],
        "angular_velocity": [
            0.5066432952880859,
            0.2545761168003082,
            20.032257080078125
        ],
        "forward_vector": [
            0.9887524843215942,
            0.14938455820083618,
            -0.007269318215548992
        ],
        "right_vector": [
            -0.1492980569601059,
            0.9887280464172363,
            0.011265699751675129
        ],
        "location": [
            2378.775634765625,
            2298.415283203125,
            363.9520568847656
        ],
        "rotation": [
            -0.6455077528953552,
            -0.4165049195289612,
            8.591490745544434
        ],
        "velocity": [
            4.039581298828125,
            1.1078046560287476,
            -0.03296788036823273
        ],
        "speed": 4.188728712361412,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.518030166625977,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.237548828125,
                2316.616455078125,
                364.3752746582031
            ],
            "velocity": [
                -0.014475973322987556,
                -3.329512596130371,
                -0.07963334023952484
            ],
            "speed_kmh": 11.989786434716807,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.2342902421951294,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.8857421875,
                        "z": 365.1595764160156
                    },
                    "rotation": {
                        "roll": -0.0007019087788648903,
                        "pitch": -1.413637399673462,
                        "yaw": -90.2624740600586
                    }
                },
                "velocity": {
                    "x": -1.8168328097090125e-05,
                    "y": -0.005806332919746637,
                    "z": 0.2342182844877243
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4059298634529114,
                "transform": {
                    "location": {
                        "x": 2440.5244140625,
                        "y": 2295.71044921875,
                        "z": 363.2140197753906
                    },
                    "rotation": {
                        "roll": 0.0008884998387657106,
                        "pitch": 0.7771661877632141,
                        "yaw": -178.8174285888672
                    }
                },
                "velocity": {
                    "x": 0.0053918431513011456,
                    "y": 7.477613689843565e-05,
                    "z": 0.40589404106140137
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.8551812171936035,
                "transform": {
                    "location": {
                        "x": 2332.4248046875,
                        "y": 2298.171630859375,
                        "z": 364.16802978515625
                    },
                    "rotation": {
                        "roll": -0.0007934570894576609,
                        "pitch": 0.2400059998035431,
                        "yaw": 0.2638411223888397
                    }
                },
                "velocity": {
                    "x": 3.854823589324951,
                    "y": 0.05147743970155716,
                    "z": 0.010400095023214817
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.770147323608398,
                "transform": {
                    "location": {
                        "x": 2420.185791015625,
                        "y": 2295.1943359375,
                        "z": 363.5272216796875
                    },
                    "rotation": {
                        "roll": 0.004690546076744795,
                        "pitch": 0.5491676926612854,
                        "yaw": -178.73533630371094
                    }
                },
                "velocity": {
                    "x": -6.7680583000183105,
                    "y": -0.14614300429821014,
                    "z": 0.08318117260932922
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.552587509155273,
                "transform": {
                    "location": {
                        "x": 2388.310791015625,
                        "y": 2333.291259765625,
                        "z": 364.7654724121094
                    },
                    "rotation": {
                        "roll": -0.0015259189531207085,
                        "pitch": -1.374322772026062,
                        "yaw": -90.20931243896484
                    }
                },
                "velocity": {
                    "x": -0.024409042671322823,
                    "y": -6.55067253112793,
                    "z": -0.15651042759418488
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.92369270324707,
                "transform": {
                    "location": {
                        "x": 2402.44775390625,
                        "y": 2294.71484375,
                        "z": 363.7378845214844
                    },
                    "rotation": {
                        "roll": -0.0390930213034153,
                        "pitch": 0.37831050157546997,
                        "yaw": -176.62741088867188
                    }
                },
                "velocity": {
                    "x": -5.911449909210205,
                    "y": -0.37500765919685364,
                    "z": 0.06531759351491928
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.330496311187744,
                "transform": {
                    "location": {
                        "x": 2388.237548828125,
                        "y": 2316.616455078125,
                        "z": 364.3752746582031
                    },
                    "rotation": {
                        "roll": -0.0014037550427019596,
                        "pitch": -1.398255705833435,
                        "yaw": -90.26111602783203
                    }
                },
                "velocity": {
                    "x": -0.014475973322987556,
                    "y": -3.329512596130371,
                    "z": -0.07963334023952484
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.136491775512695,
                "transform": {
                    "location": {
                        "x": 2388.376220703125,
                        "y": 2284.46533203125,
                        "z": 363.6266174316406
                    },
                    "rotation": {
                        "roll": 0.14414674043655396,
                        "pitch": -1.259882926940918,
                        "yaw": -100.25430297851562
                    }
                },
                "velocity": {
                    "x": -0.940435528755188,
                    "y": -8.07993221282959,
                    "z": -0.18101447820663452
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00042885166476480663,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 7.75448188505834e-06,
                    "y": -3.550201654434204e-05,
                    "z": -0.00042730927816592157
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012260681251063943,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 7.3778342084551696e-06,
                    "y": -4.4381020416039973e-05,
                    "z": -0.0012252423912286758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.920666217803955,
                "transform": {
                    "location": {
                        "x": 2351.988037109375,
                        "y": 2298.237060546875,
                        "z": 364.15570068359375
                    },
                    "rotation": {
                        "roll": 0.0019282768480479717,
                        "pitch": -0.29412841796875,
                        "yaw": -0.9073485136032104
                    }
                },
                "velocity": {
                    "x": 1.9205907583236694,
                    "y": -0.01211822684854269,
                    "z": -0.011956415139138699
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.515593528747559,
                "transform": {
                    "location": {
                        "x": 2364.943115234375,
                        "y": 2298.222900390625,
                        "z": 364.0615539550781
                    },
                    "rotation": {
                        "roll": 0.0013228928437456489,
                        "pitch": -0.2975708246231079,
                        "yaw": -0.007629394065588713
                    }
                },
                "velocity": {
                    "x": 5.515438556671143,
                    "y": -0.0013016180600970984,
                    "z": -0.041322723031044006
                },
                "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": 0.9996435642242432,
        "expert_target_speed": 5.360760928886043,
        "target_point": [
            8.499645454917237,
            12.147324066756237
        ],
        "target_point_next": [
            13.424874963751133,
            43.76611510969517
        ]
    },
    "150": {
        "acceleration": [
            -0.5048322677612305,
            2.027277946472168,
            0.026228390634059906
        ],
        "angular_velocity": [
            0.48431843519210815,
            0.10589885711669922,
            23.578195571899414
        ],
        "forward_vector": [
            0.9698296189308167,
            0.24366505444049835,
            -0.007611200679093599
        ],
        "right_vector": [
            -0.24354666471481323,
            0.969790518283844,
            0.013835344463586807
        ],
        "location": [
            2379.7744140625,
            2298.736572265625,
            363.9443359375
        ],
        "rotation": [
            -0.7927550673484802,
            -0.43609389662742615,
            14.103373527526855
        ],
        "velocity": [
            3.9245641231536865,
            1.5997943878173828,
            -0.030516376718878746
        ],
        "speed": 4.238106374318259,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.144916534423828,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25146484375,
                2315.8974609375,
                364.3582458496094
            ],
            "velocity": [
                0.0556032732129097,
                -2.288358688354492,
                -0.05489189177751541
            ],
            "speed_kmh": 8.242891888241497,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.09588631987571716,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.88427734375,
                        "z": 365.2080078125
                    },
                    "rotation": {
                        "roll": -0.0008238756563514471,
                        "pitch": -1.413972020149231,
                        "yaw": -90.26258087158203
                    }
                },
                "velocity": {
                    "x": 7.748172720312141e-06,
                    "y": -0.002405870705842972,
                    "z": 0.09585613757371902
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5896891951560974,
                "transform": {
                    "location": {
                        "x": 2440.471923828125,
                        "y": 2295.709228515625,
                        "z": 363.2849426269531
                    },
                    "rotation": {
                        "roll": -0.002532957587391138,
                        "pitch": 0.8632607460021973,
                        "yaw": -178.79446411132812
                    }
                },
                "velocity": {
                    "x": -0.5760063529014587,
                    "y": -0.01646529696881771,
                    "z": 0.1252152919769287
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.067081928253174,
                "transform": {
                    "location": {
                        "x": 2333.52783203125,
                        "y": 2298.18408203125,
                        "z": 364.1708984375
                    },
                    "rotation": {
                        "roll": 0.00044987371074967086,
                        "pitch": 0.246385395526886,
                        "yaw": 0.4804968535900116
                    }
                },
                "velocity": {
                    "x": 5.066671848297119,
                    "y": 0.06313592940568924,
                    "z": 0.01313611026853323
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.154181003570557,
                "transform": {
                    "location": {
                        "x": 2418.47021484375,
                        "y": 2295.157470703125,
                        "z": 363.54840087890625
                    },
                    "rotation": {
                        "roll": 0.0035002282820641994,
                        "pitch": 0.7290680408477783,
                        "yaw": -178.78207397460938
                    }
                },
                "velocity": {
                    "x": -7.152034282684326,
                    "y": -0.15179935097694397,
                    "z": 0.08755014091730118
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.248814105987549,
                "transform": {
                    "location": {
                        "x": 2388.30517578125,
                        "y": 2331.675537109375,
                        "z": 364.7267761230469
                    },
                    "rotation": {
                        "roll": -0.0013427322264760733,
                        "pitch": -1.3749648332595825,
                        "yaw": -90.21673583984375
                    }
                },
                "velocity": {
                    "x": -0.023737523704767227,
                    "y": -6.2470011711120605,
                    "z": -0.14863385260105133
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.45493483543396,
                "transform": {
                    "location": {
                        "x": 2401.589599609375,
                        "y": 2294.658935546875,
                        "z": 363.7468566894531
                    },
                    "rotation": {
                        "roll": 0.010601764544844627,
                        "pitch": 0.010067698545753956,
                        "yaw": -176.59312438964844
                    }
                },
                "velocity": {
                    "x": -2.4493658542633057,
                    "y": -0.16320163011550903,
                    "z": 0.0260227769613266
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.2896921634674072,
                "transform": {
                    "location": {
                        "x": 2388.25146484375,
                        "y": 2315.8974609375,
                        "z": 364.3582458496094
                    },
                    "rotation": {
                        "roll": -0.03903201222419739,
                        "pitch": -1.5328924655914307,
                        "yaw": -89.6613998413086
                    }
                },
                "velocity": {
                    "x": 0.0556032732129097,
                    "y": -2.288358688354492,
                    "z": -0.05489189177751541
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.081310272216797,
                "transform": {
                    "location": {
                        "x": 2388.17333984375,
                        "y": 2282.444091796875,
                        "z": 363.58154296875
                    },
                    "rotation": {
                        "roll": 0.030519211664795876,
                        "pitch": -1.2906187772750854,
                        "yaw": -93.6307373046875
                    }
                },
                "velocity": {
                    "x": -0.317358136177063,
                    "y": -8.073060989379883,
                    "z": -0.18040771782398224
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000766483077313751,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -2.5884946808218956e-06,
                    "y": -3.1213610782288015e-05,
                    "z": -0.0007658428512513638
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009007830522023141,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": -2.497298555681482e-05,
                    "y": -4.5705884986091405e-05,
                    "z": -0.0008992760558612645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9718517065048218,
                "transform": {
                    "location": {
                        "x": 2352.52880859375,
                        "y": 2298.23486328125,
                        "z": 364.1519775390625
                    },
                    "rotation": {
                        "roll": -0.0019226073054596782,
                        "pitch": -0.35989630222320557,
                        "yaw": -0.5677489638328552
                    }
                },
                "velocity": {
                    "x": 1.9717997312545776,
                    "y": -0.0061040413565933704,
                    "z": -0.012948025949299335
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.809512615203857,
                "transform": {
                    "location": {
                        "x": 2366.42626953125,
                        "y": 2298.222900390625,
                        "z": 364.0504150390625
                    },
                    "rotation": {
                        "roll": -0.0013427733210846782,
                        "pitch": -0.17205928266048431,
                        "yaw": 0.05003643408417702
                    }
                },
                "velocity": {
                    "x": 6.809321880340576,
                    "y": 0.001309561892412603,
                    "z": -0.05101747438311577
                },
                "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": 1.000346064567566,
        "expert_target_speed": 5.409205276362675,
        "target_point": [
            8.58015803135608,
            11.20652004199831
        ],
        "target_point_next": [
            16.519664032949454,
            42.20603741215081
        ]
    },
    "155": {
        "acceleration": [
            -1.346745491027832,
            1.609649658203125,
            0.0022041425108909607
        ],
        "angular_velocity": [
            0.23508039116859436,
            0.23292742669582367,
            26.244138717651367
        ],
        "forward_vector": [
            0.9370739459991455,
            0.3490418791770935,
            -0.007892048917710781
        ],
        "right_vector": [
            -0.3488931357860565,
            0.9370304346084595,
            0.015735477209091187
        ],
        "location": [
            2380.73095703125,
            2299.1767578125,
            363.93701171875
        ],
        "rotation": [
            -0.9016417264938354,
            -0.45218580961227417,
            20.429386138916016
        ],
        "velocity": [
            3.662797451019287,
            2.0587210655212402,
            -0.029141686856746674
        ],
        "speed": 4.201716029530589,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.24169158935547,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.253662109375,
                2315.789794921875,
                364.3556213378906
            ],
            "velocity": [
                -0.0003176016907673329,
                0.005795149598270655,
                0.0002877440128941089
            ],
            "speed_kmh": 0.02091950871965771,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1829158067703247,
                "transform": {
                    "location": {
                        "x": 2388.30029296875,
                        "y": 2351.760498046875,
                        "z": 365.2127685546875
                    },
                    "rotation": {
                        "roll": -0.00335694570094347,
                        "pitch": -1.3809138536453247,
                        "yaw": -90.21185302734375
                    }
                },
                "velocity": {
                    "x": 0.014767821878194809,
                    "y": -1.1825021505355835,
                    "z": -0.02757374197244644
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3147978782653809,
                "transform": {
                    "location": {
                        "x": 2440.244140625,
                        "y": 2295.702880859375,
                        "z": 363.2863464355469
                    },
                    "rotation": {
                        "roll": -0.005126953590661287,
                        "pitch": 0.954484760761261,
                        "yaw": -178.76708984375
                    }
                },
                "velocity": {
                    "x": -1.31342613697052,
                    "y": -0.040711410343647,
                    "z": -0.044134706258773804
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.7900896072387695,
                "transform": {
                    "location": {
                        "x": 2334.93896484375,
                        "y": 2298.194091796875,
                        "z": 364.1744689941406
                    },
                    "rotation": {
                        "roll": 0.0038135836366564035,
                        "pitch": 0.2711380124092102,
                        "yaw": 0.4272370934486389
                    }
                },
                "velocity": {
                    "x": 6.7899322509765625,
                    "y": 0.042352933436632156,
                    "z": 0.018527792766690254
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.764515399932861,
                "transform": {
                    "location": {
                        "x": 2416.56298828125,
                        "y": 2295.1171875,
                        "z": 363.57183837890625
                    },
                    "rotation": {
                        "roll": 0.0031622746028006077,
                        "pitch": 0.8140013813972473,
                        "yaw": -178.77439880371094
                    }
                },
                "velocity": {
                    "x": -7.762225151062012,
                    "y": -0.1626470386981964,
                    "z": 0.09543003141880035
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.831667423248291,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2330.1708984375,
                        "z": 364.69091796875
                    },
                    "rotation": {
                        "roll": -0.00021361208928283304,
                        "pitch": -1.380066990852356,
                        "yaw": -90.23004150390625
                    }
                },
                "velocity": {
                    "x": -0.02477314881980419,
                    "y": -5.829958438873291,
                    "z": -0.13898497819900513
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.930159330368042,
                "transform": {
                    "location": {
                        "x": 2400.788818359375,
                        "y": 2294.60546875,
                        "z": 363.755859375
                    },
                    "rotation": {
                        "roll": 0.018283288925886154,
                        "pitch": 0.7050257325172424,
                        "yaw": -176.40933227539062
                    }
                },
                "velocity": {
                    "x": -3.9210803508758545,
                    "y": -0.26368388533592224,
                    "z": 0.04183970391750336
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.005810974631458521,
                "transform": {
                    "location": {
                        "x": 2388.253662109375,
                        "y": 2315.789794921875,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.0054930634796619415,
                        "pitch": -1.7282358407974243,
                        "yaw": -89.56441497802734
                    }
                },
                "velocity": {
                    "x": -0.0003176016907673329,
                    "y": 0.005795149598270655,
                    "z": 0.0002877440128941089
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.053712844848633,
                "transform": {
                    "location": {
                        "x": 2388.109375,
                        "y": 2280.433349609375,
                        "z": 363.5364685058594
                    },
                    "rotation": {
                        "roll": -0.006195026449859142,
                        "pitch": -1.2771018743515015,
                        "yaw": -90.68126678466797
                    }
                },
                "velocity": {
                    "x": -0.05143352970480919,
                    "y": -8.051520347595215,
                    "z": -0.18073813617229462
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004174686037003994,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.2194620921945898e-06,
                    "y": -3.7551224522758275e-05,
                    "z": -0.00041577452793717384
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.3496398925781
                    },
                    "rotation": {
                        "roll": 0.0007534713950008154,
                        "pitch": 1.4147711992263794,
                        "yaw": 89.73776245117188
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.040062189102173,
                "transform": {
                    "location": {
                        "x": 2352.98876953125,
                        "y": 2298.2333984375,
                        "z": 364.14874267578125
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.3985210359096527,
                        "yaw": -0.3182373046875
                    }
                },
                "velocity": {
                    "x": 2.0400092601776123,
                    "y": -0.0037798339035362005,
                    "z": -0.014188528060913086
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.5846505165100098,
                "transform": {
                    "location": {
                        "x": 2367.7587890625,
                        "y": 2298.22509765625,
                        "z": 364.0398864746094
                    },
                    "rotation": {
                        "roll": 0.006403525825589895,
                        "pitch": -1.0150070190429688,
                        "yaw": -0.4955138564109802
                    }
                },
                "velocity": {
                    "x": 2.584500312805176,
                    "y": 0.019028140231966972,
                    "z": -0.02036418952047825
                },
                "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": 1.001224398612976,
        "expert_target_speed": 5.372609656387997,
        "target_point": [
            8.712687858180661,
            10.11425461967756
        ],
        "target_point_next": [
            20.019563682956754,
            40.05019275120799
        ]
    },
    "160": {
        "acceleration": [
            -1.3686466217041016,
            1.4679861068725586,
            0.00668942928314209
        ],
        "angular_velocity": [
            0.12161068618297577,
            0.06326297670602798,
            26.104745864868164
        ],
        "forward_vector": [
            0.8910134434700012,
            0.4539017975330353,
            -0.008256818167865276
        ],
        "right_vector": [
            -0.4537336528301239,
            0.890984058380127,
            0.016528388485312462
        ],
        "location": [
            2381.610595703125,
            2299.718994140625,
            363.93011474609375
        ],
        "rotation": [
            -0.9470824003219604,
            -0.4730862081050873,
            26.995290756225586
        ],
        "velocity": [
            3.3149712085723877,
            2.4355807304382324,
            -0.0276345107704401
        ],
        "speed": 4.113524961410336,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.14231723400243,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.393173217773438,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2315.787841796875,
                364.3556213378906
            ],
            "velocity": [
                -0.00027672830037772655,
                0.0016776698175817728,
                0.0009957272559404373
            ],
            "speed_kmh": 0.007093578102136898,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8171765804290771,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.37744140625,
                        "z": 365.2027587890625
                    },
                    "rotation": {
                        "roll": -0.003418015781790018,
                        "pitch": -1.386255145072937,
                        "yaw": -90.14089965820312
                    }
                },
                "velocity": {
                    "x": 0.008502589538693428,
                    "y": -1.8165371417999268,
                    "z": -0.047450609505176544
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2059085369110107,
                "transform": {
                    "location": {
                        "x": 2439.8125,
                        "y": 2295.690673828125,
                        "z": 363.2797546386719
                    },
                    "rotation": {
                        "roll": -0.00439453125,
                        "pitch": 0.9723114967346191,
                        "yaw": -178.68138122558594
                    }
                },
                "velocity": {
                    "x": -2.204860210418701,
                    "y": -0.06781364232301712,
                    "z": 0.005049324128776789
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.308266639709473,
                "transform": {
                    "location": {
                        "x": 2336.865234375,
                        "y": 2298.206298828125,
                        "z": 364.17901611328125
                    },
                    "rotation": {
                        "roll": 0.0023706546053290367,
                        "pitch": 0.23835992813110352,
                        "yaw": 0.3617515563964844
                    }
                },
                "velocity": {
                    "x": 8.308112144470215,
                    "y": 0.04868747293949127,
                    "z": 0.013784694485366344
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.736075401306152,
                "transform": {
                    "location": {
                        "x": 2414.743896484375,
                        "y": 2295.0791015625,
                        "z": 363.59417724609375
                    },
                    "rotation": {
                        "roll": 0.0016480322228744626,
                        "pitch": 0.5762220621109009,
                        "yaw": -178.81094360351562
                    }
                },
                "velocity": {
                    "x": -6.734086036682129,
                    "y": -0.14092832803726196,
                    "z": 0.08329770714044571
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.54059362411499,
                "transform": {
                    "location": {
                        "x": 2388.29345703125,
                        "y": 2328.75439453125,
                        "z": 364.65716552734375
                    },
                    "rotation": {
                        "roll": -0.002471901010721922,
                        "pitch": -1.3700811862945557,
                        "yaw": -90.24015808105469
                    }
                },
                "velocity": {
                    "x": -0.023441394791007042,
                    "y": -5.53896951675415,
                    "z": -0.1320844143629074
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.332434177398682,
                "transform": {
                    "location": {
                        "x": 2399.623779296875,
                        "y": 2294.51123046875,
                        "z": 363.76861572265625
                    },
                    "rotation": {
                        "roll": -0.1235046312212944,
                        "pitch": 0.8647701740264893,
                        "yaw": -175.6286163330078
                    }
                },
                "velocity": {
                    "x": -5.300179958343506,
                    "y": -0.5824871063232422,
                    "z": 0.06048930063843727
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0019704382866621017,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2315.787841796875,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.013122597709298134,
                        "pitch": -1.4506500959396362,
                        "yaw": -89.56439208984375
                    }
                },
                "velocity": {
                    "x": -0.00027672830037772655,
                    "y": 0.0016776698175817728,
                    "z": 0.0009957272559404373
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.085628509521484,
                "transform": {
                    "location": {
                        "x": 2388.10205078125,
                        "y": 2278.41552734375,
                        "z": 363.49151611328125
                    },
                    "rotation": {
                        "roll": -0.012298607267439365,
                        "pitch": -1.2738301753997803,
                        "yaw": -89.75911712646484
                    }
                },
                "velocity": {
                    "x": 0.03649651259183884,
                    "y": -8.083555221557617,
                    "z": -0.17942097783088684
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.69911751174368e-05,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": 6.075736564525869e-06,
                    "y": -6.066665082471445e-05,
                    "z": 2.7757174393627793e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7902430295944214,
                "transform": {
                    "location": {
                        "x": 2353.48681640625,
                        "y": 2298.233642578125,
                        "z": 364.1453552246094
                    },
                    "rotation": {
                        "roll": -0.001068115234375,
                        "pitch": -0.44421499967575073,
                        "yaw": -0.105377197265625
                    }
                },
                "velocity": {
                    "x": 1.790190577507019,
                    "y": -0.0004280784633010626,
                    "z": -0.013698787428438663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.8542658090591431,
                "transform": {
                    "location": {
                        "x": 2367.928955078125,
                        "y": 2298.22607421875,
                        "z": 364.03863525390625
                    },
                    "rotation": {
                        "roll": 0.02139628306031227,
                        "pitch": -0.8783554434776306,
                        "yaw": -0.505096435546875
                    }
                },
                "velocity": {
                    "x": 0.8542465567588806,
                    "y": -0.0027899742126464844,
                    "z": -0.005011911503970623
                },
                "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": 1.0007827281951904,
        "expert_target_speed": 5.284608609693455,
        "target_point": [
            8.782140394448849,
            8.967779383167846
        ],
        "target_point_next": [
            23.43791436018847,
            37.414468508562955
        ]
    },
    "165": {
        "acceleration": [
            -1.4498233795166016,
            0.8521795272827148,
            0.2485702931880951
        ],
        "angular_velocity": [
            6.615421295166016,
            0.6750699281692505,
            26.371519088745117
        ],
        "forward_vector": [
            0.8331555128097534,
            0.5530333518981934,
            -0.0024602385237812996
        ],
        "right_vector": [
            -0.5527488589286804,
            0.8328544497489929,
            0.028674498200416565
        ],
        "location": [
            2382.406005859375,
            2300.3515625,
            363.9305114746094
        ],
        "rotation": [
            -1.643157958984375,
            -0.1409614384174347,
            33.575477600097656
        ],
        "velocity": [
            2.978001832962036,
            2.7004940509796143,
            0.05351090431213379
        ],
        "speed": 4.020094903917261,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0757177064777035,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.511882781982422,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2315.787353515625,
                364.3556213378906
            ],
            "velocity": [
                0.00010292689694324508,
                0.0003470559313427657,
                0.0010688106995075941
            ],
            "speed_kmh": 0.004062417885645824,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4031529426574707,
                "transform": {
                    "location": {
                        "x": 2388.30419921875,
                        "y": 2350.84765625,
                        "z": 365.1894836425781
                    },
                    "rotation": {
                        "roll": -0.0055236248299479485,
                        "pitch": -1.3922656774520874,
                        "yaw": -90.03987884521484
                    }
                },
                "velocity": {
                    "x": 0.011074100621044636,
                    "y": -2.4023964405059814,
                    "z": -0.05926971882581711
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.0849151611328125,
                "transform": {
                    "location": {
                        "x": 2439.0263671875,
                        "y": 2295.667724609375,
                        "z": 363.2880859375
                    },
                    "rotation": {
                        "roll": -0.004577637650072575,
                        "pitch": 1.1554903984069824,
                        "yaw": -178.51463317871094
                    }
                },
                "velocity": {
                    "x": -4.082489013671875,
                    "y": -0.12605050206184387,
                    "z": 0.06266660243272781
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.385922431945801,
                "transform": {
                    "location": {
                        "x": 2338.85498046875,
                        "y": 2298.217529296875,
                        "z": 364.18353271484375
                    },
                    "rotation": {
                        "roll": 0.0028375876136124134,
                        "pitch": 0.060092002153396606,
                        "yaw": 0.3249739706516266
                    }
                },
                "velocity": {
                    "x": 7.38585901260376,
                    "y": 0.029192551970481873,
                    "z": 0.009337148629128933
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.16723762452602386,
                "transform": {
                    "location": {
                        "x": 2413.93994140625,
                        "y": 2295.06103515625,
                        "z": 363.60345458984375
                    },
                    "rotation": {
                        "roll": 0.009681236930191517,
                        "pitch": -0.3218931257724762,
                        "yaw": -179.03233337402344
                    }
                },
                "velocity": {
                    "x": -0.16714715957641602,
                    "y": -0.005256169941276312,
                    "z": 0.0016197109362110496
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9803452491760254,
                "transform": {
                    "location": {
                        "x": 2388.2890625,
                        "y": 2327.718017578125,
                        "z": 364.6326904296875
                    },
                    "rotation": {
                        "roll": 0.0004170918255113065,
                        "pitch": -1.4313616752624512,
                        "yaw": -90.24574279785156
                    }
                },
                "velocity": {
                    "x": -0.0087198531255126,
                    "y": -1.9797446727752686,
                    "z": -0.04798225313425064
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.4742231369018555,
                "transform": {
                    "location": {
                        "x": 2398.28759765625,
                        "y": 2294.32666015625,
                        "z": 363.78265380859375
                    },
                    "rotation": {
                        "roll": -0.17687982320785522,
                        "pitch": 0.691051185131073,
                        "yaw": -172.91107177734375
                    }
                },
                "velocity": {
                    "x": -5.39682674407959,
                    "y": -0.9155303835868835,
                    "z": 0.056459397077560425
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00112844945397228,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2315.787353515625,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.016693029552698135,
                        "pitch": -1.3962681293487549,
                        "yaw": -89.564453125
                    }
                },
                "velocity": {
                    "x": 0.00010292689694324508,
                    "y": 0.0003470559313427657,
                    "z": 0.0010688106995075941
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.086691856384277,
                "transform": {
                    "location": {
                        "x": 2388.111328125,
                        "y": 2276.39306640625,
                        "z": 363.44659423828125
                    },
                    "rotation": {
                        "roll": -0.00863651093095541,
                        "pitch": -1.2751142978668213,
                        "yaw": -89.60948181152344
                    }
                },
                "velocity": {
                    "x": 0.04349878802895546,
                    "y": -8.084566116333008,
                    "z": -0.18025870621204376
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001149511430412531,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 4.571786575979786e-06,
                    "y": -2.1711735826102085e-05,
                    "z": -0.0011492972262203693
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.771181066753343e-05,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": -8.892436198948417e-06,
                    "y": -6.299167580436915e-05,
                    "z": -7.416583684971556e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.206702709197998,
                "transform": {
                    "location": {
                        "x": 2353.990966796875,
                        "y": 2298.233642578125,
                        "z": 364.14190673828125
                    },
                    "rotation": {
                        "roll": -0.0020751950796693563,
                        "pitch": -0.39379453659057617,
                        "yaw": 0.020362142473459244
                    }
                },
                "velocity": {
                    "x": 2.2066588401794434,
                    "y": 0.0004773874825332314,
                    "z": -0.013919086195528507
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.3387765884399414,
                "transform": {
                    "location": {
                        "x": 2368.35595703125,
                        "y": 2298.224365234375,
                        "z": 364.03564453125
                    },
                    "rotation": {
                        "roll": 0.004239358007907867,
                        "pitch": -0.2861575782299042,
                        "yaw": -0.4424438178539276
                    }
                },
                "velocity": {
                    "x": 2.338693380355835,
                    "y": -0.007774088066071272,
                    "z": -0.018122877925634384
                },
                "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": 1.0001620054244995,
        "expert_target_speed": 5.191573856123111,
        "target_point": [
            8.739399983291001,
            7.815190513351051
        ],
        "target_point_next": [
            26.558426780596076,
            34.395034695148794
        ]
    },
    "170": {
        "acceleration": [
            -2.4179935455322266,
            -0.1078653335571289,
            0.07141083478927612
        ],
        "angular_velocity": [
            7.037692546844482,
            1.8947477340698242,
            24.543102264404297
        ],
        "forward_vector": [
            0.7663207054138184,
            0.6423594355583191,
            0.011267065070569515
        ],
        "right_vector": [
            -0.64187091588974,
            0.7647526264190674,
            0.05617127940058708
        ],
        "location": [
            2383.098388671875,
            2301.04248046875,
            363.9440002441406
        ],
        "rotation": [
            -3.2202765941619873,
            0.6455689668655396,
            39.971031188964844
        ],
        "velocity": [
            2.4623308181762695,
            2.7961275577545166,
            0.0671648234128952
        ],
        "speed": 3.7257754061906168,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 3.0100825664173185,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.625391960144043,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2315.787109375,
                364.3556213378906
            ],
            "velocity": [
                -5.527307075681165e-05,
                1.88794729183428e-05,
                0.0015305709093809128
            ],
            "speed_kmh": 0.0055140659015985765,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0172176361083984,
                "transform": {
                    "location": {
                        "x": 2388.306396484375,
                        "y": 2350.167724609375,
                        "z": 365.1727294921875
                    },
                    "rotation": {
                        "roll": -0.007781980559229851,
                        "pitch": -1.389615535736084,
                        "yaw": -89.93496704101562
                    }
                },
                "velocity": {
                    "x": 0.014976831153035164,
                    "y": -3.016279458999634,
                    "z": -0.07373359799385071
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.386467933654785,
                "transform": {
                    "location": {
                        "x": 2437.790771484375,
                        "y": 2295.63037109375,
                        "z": 363.3067932128906
                    },
                    "rotation": {
                        "roll": 0.001695530954748392,
                        "pitch": 1.1336405277252197,
                        "yaw": -178.35997009277344
                    }
                },
                "velocity": {
                    "x": -5.38326358795166,
                    "y": -0.1690017282962799,
                    "z": 0.07712438702583313
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.334336757659912,
                "transform": {
                    "location": {
                        "x": 2340.50537109375,
                        "y": 2298.22314453125,
                        "z": 364.1854248046875
                    },
                    "rotation": {
                        "roll": 0.0012477962300181389,
                        "pitch": -0.06518049538135529,
                        "yaw": 0.20491084456443787
                    }
                },
                "velocity": {
                    "x": 5.334319114685059,
                    "y": 0.013413544744253159,
                    "z": -0.0029930209275335073
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.4099034070968628,
                "transform": {
                    "location": {
                        "x": 2413.767333984375,
                        "y": 2295.057861328125,
                        "z": 363.60589599609375
                    },
                    "rotation": {
                        "roll": 0.0003390063648112118,
                        "pitch": 0.5664548873901367,
                        "yaw": -179.04505920410156
                    }
                },
                "velocity": {
                    "x": -1.40953528881073,
                    "y": -0.02654857188463211,
                    "z": 0.018253764137625694
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.6541993618011475,
                "transform": {
                    "location": {
                        "x": 2388.2880859375,
                        "y": 2327.58203125,
                        "z": 364.62933349609375
                    },
                    "rotation": {
                        "roll": -0.0004881851200480014,
                        "pitch": -1.4049971103668213,
                        "yaw": -90.219970703125
                    }
                },
                "velocity": {
                    "x": -0.003352199913933873,
                    "y": -0.6540188193321228,
                    "z": -0.014999408274888992
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.32522439956665,
                "transform": {
                    "location": {
                        "x": 2396.78515625,
                        "y": 2293.9619140625,
                        "z": 363.7982482910156
                    },
                    "rotation": {
                        "roll": -0.521087646484375,
                        "pitch": 0.901885449886322,
                        "yaw": -167.24984741210938
                    }
                },
                "velocity": {
                    "x": -6.979791164398193,
                    "y": -2.221771001815796,
                    "z": 0.07184181362390518
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015316850040107965,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2315.787109375,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.01730337366461754,
                        "pitch": -1.3722258806228638,
                        "yaw": -89.5645523071289
                    }
                },
                "velocity": {
                    "x": -5.527307075681165e-05,
                    "y": 1.88794729183428e-05,
                    "z": 0.0015305709093809128
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05457592010498,
                "transform": {
                    "location": {
                        "x": 2388.12255859375,
                        "y": 2274.37744140625,
                        "z": 363.40185546875
                    },
                    "rotation": {
                        "roll": -0.006103417836129665,
                        "pitch": -1.269281268119812,
                        "yaw": -89.67137908935547
                    }
                },
                "velocity": {
                    "x": 0.0412246398627758,
                    "y": -8.052505493164062,
                    "z": -0.17788779735565186
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005519029218703508,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.2736982171190903e-06,
                    "y": -3.4125445381505415e-05,
                    "z": -0.000550845405086875
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013811999815516174,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": 1.238524419022724e-05,
                    "y": -5.684107236447744e-05,
                    "z": -0.00012527103535830975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.38665035367012024,
                "transform": {
                    "location": {
                        "x": 2354.28515625,
                        "y": 2298.234130859375,
                        "z": 364.1394348144531
                    },
                    "rotation": {
                        "roll": -0.0035095219500362873,
                        "pitch": -0.6787090301513672,
                        "yaw": 0.1625383049249649
                    }
                },
                "velocity": {
                    "x": 0.386637806892395,
                    "y": 3.452292730798945e-05,
                    "z": -0.003114986466243863
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.019127145409584045,
                "transform": {
                    "location": {
                        "x": 2368.804931640625,
                        "y": 2298.22314453125,
                        "z": 364.0321350097656
                    },
                    "rotation": {
                        "roll": 0.01142591331154108,
                        "pitch": -0.7425849437713623,
                        "yaw": -0.51409912109375
                    }
                },
                "velocity": {
                    "x": 0.019114073365926743,
                    "y": 0.0007002563797868788,
                    "z": 9.759515523910522e-05
                },
                "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": 0.9998016357421875,
        "expert_target_speed": 4.899282034746312,
        "target_point": [
            8.581094323252834,
            6.708341465228411
        ],
        "target_point_next": [
            29.250009815976835,
            31.137867966705222
        ]
    },
    "175": {
        "acceleration": [
            -1.8877077102661133,
            -0.1492595672607422,
            -0.05514979362487793
        ],
        "angular_velocity": [
            -1.2047675848007202,
            -7.806834697723389,
            22.52099609375
        ],
        "forward_vector": [
            0.6971943974494934,
            0.7161659598350525,
            0.03203475847840309
        ],
        "right_vector": [
            -0.7168486714363098,
            0.6960340738296509,
            0.04079875722527504
        ],
        "location": [
            2383.652099609375,
            2301.7255859375,
            363.9692077636719
        ],
        "rotation": [
            -2.339447021484375,
            1.8357703685760498,
            45.76903533935547
        ],
        "velocity": [
            1.8456145524978638,
            2.79189395904541,
            0.11527007818222046
        ],
        "speed": 3.3467842707509763,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.951581974288477,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.80041790008545,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2315.787109375,
                364.3556213378906
            ],
            "velocity": [
                -5.982939183013514e-05,
                -0.00010088636918226257,
                0.0016144179971888661
            ],
            "speed_kmh": 0.005827223694434654,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.7249372005462646,
                "transform": {
                    "location": {
                        "x": 2388.309814453125,
                        "y": 2349.325927734375,
                        "z": 365.152099609375
                    },
                    "rotation": {
                        "roll": -0.0098572364076972,
                        "pitch": -1.3837279081344604,
                        "yaw": -89.84321594238281
                    }
                },
                "velocity": {
                    "x": 0.019328320398926735,
                    "y": -3.7237722873687744,
                    "z": -0.09112609922885895
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.863347053527832,
                "transform": {
                    "location": {
                        "x": 2436.2841796875,
                        "y": 2295.583984375,
                        "z": 363.32745361328125
                    },
                    "rotation": {
                        "roll": 0.003324321238324046,
                        "pitch": 1.0364128351211548,
                        "yaw": -178.1998291015625
                    }
                },
                "velocity": {
                    "x": -6.859294414520264,
                    "y": -0.21922533214092255,
                    "z": 0.08689132332801819
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.002505627926439047,
                "transform": {
                    "location": {
                        "x": 2341.018798828125,
                        "y": 2298.2255859375,
                        "z": 364.1863708496094
                    },
                    "rotation": {
                        "roll": -0.0001220703125,
                        "pitch": -0.30645692348480225,
                        "yaw": 0.09753379225730896
                    }
                },
                "velocity": {
                    "x": -0.00041676886030472815,
                    "y": 5.080698974779807e-05,
                    "z": -0.002470201114192605
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.7998578548431396,
                "transform": {
                    "location": {
                        "x": 2413.2412109375,
                        "y": 2295.04736328125,
                        "z": 363.61236572265625
                    },
                    "rotation": {
                        "roll": -0.0037536597810685635,
                        "pitch": 0.9061952829360962,
                        "yaw": -179.02052307128906
                    }
                },
                "velocity": {
                    "x": -2.7991325855255127,
                    "y": -0.054154593497514725,
                    "z": 0.033584728837013245
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.5312267541885376,
                "transform": {
                    "location": {
                        "x": 2388.286865234375,
                        "y": 2327.30712890625,
                        "z": 364.6224060058594
                    },
                    "rotation": {
                        "roll": -0.0011595855467021465,
                        "pitch": -1.348354458808899,
                        "yaw": -90.19744110107422
                    }
                },
                "velocity": {
                    "x": -0.005727073643356562,
                    "y": -1.5307905673980713,
                    "z": -0.03609571233391762
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.322489738464355,
                "transform": {
                    "location": {
                        "x": 2394.9111328125,
                        "y": 2293.212890625,
                        "z": 363.81671142578125
                    },
                    "rotation": {
                        "roll": -0.6294251084327698,
                        "pitch": 0.7520993947982788,
                        "yaw": -158.05979919433594
                    }
                },
                "velocity": {
                    "x": -7.480684757232666,
                    "y": -3.646812915802002,
                    "z": 0.06286603957414627
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001618673326447606,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2315.787109375,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.01800529845058918,
                        "pitch": -1.3687151670455933,
                        "yaw": -89.56463623046875
                    }
                },
                "velocity": {
                    "x": -5.982939183013514e-05,
                    "y": -0.00010088636918226257,
                    "z": 0.0016144179971888661
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.100245475769043,
                "transform": {
                    "location": {
                        "x": 2388.1328125,
                        "y": 2272.357421875,
                        "z": 363.357177734375
                    },
                    "rotation": {
                        "roll": -0.003356896573677659,
                        "pitch": -1.2657432556152344,
                        "yaw": -89.71941375732422
                    }
                },
                "velocity": {
                    "x": 0.034407153725624084,
                    "y": -8.09820556640625,
                    "z": -0.17851272225379944
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0011350270360708237,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 5.867447271157289e-06,
                    "y": -1.7452537576900795e-05,
                    "z": -0.0011348776752129197
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010448097600601614,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": 1.4580700735677965e-05,
                    "y": -6.373658834490925e-05,
                    "z": 8.149432687787339e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.52044677734375,
                "transform": {
                    "location": {
                        "x": 2354.536376953125,
                        "y": 2298.234130859375,
                        "z": 364.13787841796875
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.3683111071586609,
                        "yaw": 0.17089883983135223
                    }
                },
                "velocity": {
                    "x": 1.5204129219055176,
                    "y": 0.0004236455133650452,
                    "z": -0.01013981830328703
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.049647331237793,
                "transform": {
                    "location": {
                        "x": 2368.928955078125,
                        "y": 2298.22314453125,
                        "z": 364.03125
                    },
                    "rotation": {
                        "roll": 0.002705516293644905,
                        "pitch": -0.4311215281486511,
                        "yaw": -0.4741210639476776
                    }
                },
                "velocity": {
                    "x": 1.0496242046356201,
                    "y": -0.002200968796387315,
                    "z": -0.00661015510559082
                },
                "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": 1.0001128911972046,
        "expert_target_speed": 4.523815642136866,
        "target_point": [
            8.339169114501383,
            5.727402689181495
        ],
        "target_point_next": [
            31.370244779152635,
            27.943959273423634
        ]
    },
    "180": {
        "acceleration": [
            -0.9291434288024902,
            -0.16298770904541016,
            -0.399211049079895
        ],
        "angular_velocity": [
            1.4104788303375244,
            1.5534154176712036,
            20.924055099487305
        ],
        "forward_vector": [
            0.6259791254997253,
            0.7786386013031006,
            0.04326768219470978
        ],
        "right_vector": [
            -0.7798264026641846,
            0.6253299713134766,
            0.028867943212389946
        ],
        "location": [
            2384.08837890625,
            2302.40234375,
            363.9974670410156
        ],
        "rotation": [
            -1.655792236328125,
            2.479829788208008,
            51.20278549194336
        ],
        "velocity": [
            1.523550271987915,
            2.7283120155334473,
            0.09352933615446091
        ],
        "speed": 3.124882699459074,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.898861441254946,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.022547721862793,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2315.787109375,
                364.3556213378906
            ],
            "velocity": [
                3.261833853684948e-06,
                -6.244226824492216e-05,
                0.0007702363654971123
            ],
            "speed_kmh": 0.002781972610872702,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.651911735534668,
                "transform": {
                    "location": {
                        "x": 2388.314697265625,
                        "y": 2348.278076171875,
                        "z": 365.1263122558594
                    },
                    "rotation": {
                        "roll": -0.012634249404072762,
                        "pitch": -1.3732913732528687,
                        "yaw": -89.76968383789062
                    }
                },
                "velocity": {
                    "x": 0.025297092273831367,
                    "y": -4.6504292488098145,
                    "z": -0.11467024683952332
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.894942283630371,
                "transform": {
                    "location": {
                        "x": 2434.459716796875,
                        "y": 2295.5302734375,
                        "z": 363.3511657714844
                    },
                    "rotation": {
                        "roll": 0.02664835751056671,
                        "pitch": 0.9788958430290222,
                        "yaw": -178.24070739746094
                    }
                },
                "velocity": {
                    "x": -7.891254901885986,
                    "y": -0.21957506239414215,
                    "z": 0.09997623413801193
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2934174537658691,
                "transform": {
                    "location": {
                        "x": 2341.263671875,
                        "y": 2298.2255859375,
                        "z": 364.1846008300781
                    },
                    "rotation": {
                        "roll": -0.000396728515625,
                        "pitch": -0.04211494326591492,
                        "yaw": 0.23280461132526398
                    }
                },
                "velocity": {
                    "x": 1.2933846712112427,
                    "y": 0.009190085344016552,
                    "z": 0.00044255255488678813
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.338161945343018,
                "transform": {
                    "location": {
                        "x": 2412.33544921875,
                        "y": 2295.029541015625,
                        "z": 363.62335205078125
                    },
                    "rotation": {
                        "roll": -0.005493162665516138,
                        "pitch": 0.9939154386520386,
                        "yaw": -178.94448852539062
                    }
                },
                "velocity": {
                    "x": -4.336982250213623,
                    "y": -0.0866851881146431,
                    "z": 0.05212658643722534
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2643086910247803,
                "transform": {
                    "location": {
                        "x": 2388.284912109375,
                        "y": 2326.822509765625,
                        "z": 364.61083984375
                    },
                    "rotation": {
                        "roll": -0.0019226387375965714,
                        "pitch": -1.3422209024429321,
                        "yaw": -90.21002197265625
                    }
                },
                "velocity": {
                    "x": -0.009912929497659206,
                    "y": -2.26365065574646,
                    "z": -0.05367524176836014
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.863409519195557,
                "transform": {
                    "location": {
                        "x": 2393.197998046875,
                        "y": 2292.171875,
                        "z": 363.8279724121094
                    },
                    "rotation": {
                        "roll": -0.1832580417394638,
                        "pitch": 0.1754060834646225,
                        "yaw": -147.5766143798828
                    }
                },
                "velocity": {
                    "x": -6.369056224822998,
                    "y": -4.611755847930908,
                    "z": -0.0060287662781775
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007727702031843364,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2315.787109375,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.018066510558128357,
                        "pitch": -1.3671306371688843,
                        "yaw": -89.5647201538086
                    }
                },
                "velocity": {
                    "x": 3.261833853684948e-06,
                    "y": -6.244226824492216e-05,
                    "z": 0.0007702363654971123
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05496883392334,
                "transform": {
                    "location": {
                        "x": 2388.140625,
                        "y": 2270.3388671875,
                        "z": 363.31268310546875
                    },
                    "rotation": {
                        "roll": -0.0019531631842255592,
                        "pitch": -1.2652925252914429,
                        "yaw": -89.79383850097656
                    }
                },
                "velocity": {
                    "x": 0.025544706732034683,
                    "y": -8.052973747253418,
                    "z": -0.17744602262973785
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0004425948136486113,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.3534400750359055e-05,
                    "y": -3.769770046346821e-05,
                    "z": -0.0004407787346281111
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000530886638443917,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": -1.8306629499420524e-05,
                    "y": -4.7010034904815257e-05,
                    "z": -0.0005284841754473746
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.5113229751586914,
                "transform": {
                    "location": {
                        "x": 2355.0361328125,
                        "y": 2298.233642578125,
                        "z": 364.13421630859375
                    },
                    "rotation": {
                        "roll": 0.0013634823262691498,
                        "pitch": -0.2913212180137634,
                        "yaw": 0.003230402944609523
                    }
                },
                "velocity": {
                    "x": 2.511256456375122,
                    "y": -0.0015230163699015975,
                    "z": -0.018201760947704315
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.385141372680664,
                "transform": {
                    "location": {
                        "x": 2369.370849609375,
                        "y": 2298.221435546875,
                        "z": 364.0280456542969
                    },
                    "rotation": {
                        "roll": -0.0015563966007903218,
                        "pitch": -0.21832698583602905,
                        "yaw": -0.3808593451976776
                    }
                },
                "velocity": {
                    "x": 2.385064125061035,
                    "y": -0.00599606754258275,
                    "z": -0.018226375803351402
                },
                "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": 0.9999272227287292,
        "expert_target_speed": 4.302114714011562,
        "target_point": [
            8.043249941887174,
            4.8279780169880135
        ],
        "target_point_next": [
            33.07462547757964,
            24.763776760024637
        ]
    },
    "185": {
        "acceleration": [
            -1.5748071670532227,
            -0.2646493911743164,
            0.34061044454574585
        ],
        "angular_velocity": [
            -1.1505694389343262,
            0.9363996982574463,
            20.676794052124023
        ],
        "forward_vector": [
            0.553003191947937,
            0.8321796655654907,
            0.04079949110746384
        ],
        "right_vector": [
            -0.8330990672111511,
            0.5516077280044556,
            0.04092558100819588
        ],
        "location": [
            2384.435791015625,
            2303.069091796875,
            364.0177917480469
        ],
        "rotation": [
            -2.3474738597869873,
            2.338287830352783,
            56.39501953125
        ],
        "velocity": [
            1.1987335681915283,
            2.677671194076538,
            0.08994951099157333
        ],
        "speed": 2.9337493401953183,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.85068502147059,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.283076286315918,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2315.787109375,
                364.3556213378906
            ],
            "velocity": [
                5.066115136287408e-06,
                -5.648612932418473e-05,
                0.0007769051590003073
            ],
            "speed_kmh": 0.002804300580956372,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.295815944671631,
                "transform": {
                    "location": {
                        "x": 2388.3212890625,
                        "y": 2347.0048828125,
                        "z": 365.095458984375
                    },
                    "rotation": {
                        "roll": -0.014404342509806156,
                        "pitch": -1.3788443803787231,
                        "yaw": -89.72692108154297
                    }
                },
                "velocity": {
                    "x": 0.029630308970808983,
                    "y": -5.294160842895508,
                    "z": -0.12903828918933868
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.529139518737793,
                "transform": {
                    "location": {
                        "x": 2432.3466796875,
                        "y": 2295.471435546875,
                        "z": 363.3782653808594
                    },
                    "rotation": {
                        "roll": 0.01668466627597809,
                        "pitch": 0.9363437294960022,
                        "yaw": -178.3896484375
                    }
                },
                "velocity": {
                    "x": -8.525464057922363,
                    "y": -0.22611913084983826,
                    "z": 0.10748227685689926
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1152820587158203,
                "transform": {
                    "location": {
                        "x": 2341.656494140625,
                        "y": 2298.2275390625,
                        "z": 364.18414306640625
                    },
                    "rotation": {
                        "roll": 0.0007840623729862273,
                        "pitch": -0.0015914340037852526,
                        "yaw": 0.12998352944850922
                    }
                },
                "velocity": {
                    "x": 2.1152803897857666,
                    "y": 0.00120274827349931,
                    "z": -0.0022706890013068914
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.352224826812744,
                "transform": {
                    "location": {
                        "x": 2411.08349609375,
                        "y": 2295.004150390625,
                        "z": 363.6388244628906
                    },
                    "rotation": {
                        "roll": -0.004333495628088713,
                        "pitch": 0.930128276348114,
                        "yaw": -178.86431884765625
                    }
                },
                "velocity": {
                    "x": -5.350721836090088,
                    "y": -0.10899923741817474,
                    "z": 0.0648527666926384
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7072513103485107,
                "transform": {
                    "location": {
                        "x": 2388.28271484375,
                        "y": 2326.32470703125,
                        "z": 364.5992431640625
                    },
                    "rotation": {
                        "roll": -0.0025634949561208487,
                        "pitch": -1.370668649673462,
                        "yaw": -90.22161102294922
                    }
                },
                "velocity": {
                    "x": -0.007863899692893028,
                    "y": -1.7067627906799316,
                    "z": -0.04007382690906525
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.140641212463379,
                "transform": {
                    "location": {
                        "x": 2391.71142578125,
                        "y": 2290.881103515625,
                        "z": 363.8066711425781
                    },
                    "rotation": {
                        "roll": -0.1670532077550888,
                        "pitch": -1.2388596534729004,
                        "yaw": -138.23753356933594
                    }
                },
                "velocity": {
                    "x": -5.683334827423096,
                    "y": -5.825992107391357,
                    "z": -0.16599483788013458
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007789724040776491,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2315.787109375,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.017425568774342537,
                        "pitch": -1.3670076131820679,
                        "yaw": -89.5647201538086
                    }
                },
                "velocity": {
                    "x": 5.066115136287408e-06,
                    "y": -5.648612932418473e-05,
                    "z": 0.0007769051590003073
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.093523979187012,
                "transform": {
                    "location": {
                        "x": 2388.146728515625,
                        "y": 2268.320556640625,
                        "z": 363.2683410644531
                    },
                    "rotation": {
                        "roll": -0.0017394983442500234,
                        "pitch": -1.2514339685440063,
                        "yaw": -89.8369369506836
                    }
                },
                "velocity": {
                    "x": 0.021777749061584473,
                    "y": -8.09154224395752,
                    "z": -0.17778167128562927
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0009080221643671393,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 1.1707616977219004e-05,
                    "y": -2.750351995928213e-05,
                    "z": -0.000907530018594116
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.57281411299482e-05,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": -1.3289848538988736e-05,
                    "y": -7.258787809405476e-05,
                    "z": -4.363133848528378e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.036384105682373,
                "transform": {
                    "location": {
                        "x": 2355.859619140625,
                        "y": 2298.233642578125,
                        "z": 364.1282043457031
                    },
                    "rotation": {
                        "roll": 0.0005474913632497191,
                        "pitch": -0.21575883030891418,
                        "yaw": -0.015869140625
                    }
                },
                "velocity": {
                    "x": 4.03627347946167,
                    "y": -0.0019383651670068502,
                    "z": -0.029860353097319603
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.972165107727051,
                "transform": {
                    "location": {
                        "x": 2370.16796875,
                        "y": 2298.2197265625,
                        "z": 364.0220642089844
                    },
                    "rotation": {
                        "roll": -0.0030822751577943563,
                        "pitch": -0.12857148051261902,
                        "yaw": -0.2635193169116974
                    }
                },
                "velocity": {
                    "x": 3.972050189971924,
                    "y": -0.007151301950216293,
                    "z": -0.029367942363023758
                },
                "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": 0.9991477727890015,
        "expert_target_speed": 4.111450857605362,
        "target_point": [
            7.699572106628035,
            4.0005967747411235
        ],
        "target_point_next": [
            34.43238827882622,
            21.589296903948604
        ]
    },
    "190": {
        "acceleration": [
            -0.9078323841094971,
            0.13179302215576172,
            -0.041683316230773926
        ],
        "angular_velocity": [
            -3.451436758041382,
            -1.2015892267227173,
            17.67060089111328
        ],
        "forward_vector": [
            0.48174890875816345,
            0.8758223056793213,
            0.02920951135456562
        ],
        "right_vector": [
            -0.876179575920105,
            0.48083633184432983,
            0.03325479477643967
        ],
        "location": [
            2384.70703125,
            2303.7158203125,
            364.0504150390625
        ],
        "rotation": [
            -1.906524658203125,
            1.6738197803497314,
            61.186866760253906
        ],
        "velocity": [
            0.9031967520713806,
            2.654623031616211,
            0.13006871938705444
        ],
        "speed": 2.804066299669024,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.806870786420132,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.585289001464844,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2315.787109375,
                364.3556213378906
            ],
            "velocity": [
                -3.576722519937903e-05,
                -6.7821142692992e-06,
                0.0006440790020860732
            ],
            "speed_kmh": 0.002322385230557582,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.088358402252197,
                "transform": {
                    "location": {
                        "x": 2388.32763671875,
                        "y": 2345.61328125,
                        "z": 365.0614013671875
                    },
                    "rotation": {
                        "roll": -0.01129149366170168,
                        "pitch": -1.3794522285461426,
                        "yaw": -89.76254272460938
                    }
                },
                "velocity": {
                    "x": 0.013466550968587399,
                    "y": -6.0865349769592285,
                    "z": -0.1483723223209381
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.038617134094238,
                "transform": {
                    "location": {
                        "x": 2430.28369140625,
                        "y": 2295.417236328125,
                        "z": 363.4068908691406
                    },
                    "rotation": {
                        "roll": 0.013846755027770996,
                        "pitch": 0.6095806956291199,
                        "yaw": -178.5341033935547
                    }
                },
                "velocity": {
                    "x": -8.035566329956055,
                    "y": -0.19676415622234344,
                    "z": 0.10159902274608612
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0228488445281982,
                "transform": {
                    "location": {
                        "x": 2342.068115234375,
                        "y": 2298.223388671875,
                        "z": 364.1842956542969
                    },
                    "rotation": {
                        "roll": -0.0014038087101653218,
                        "pitch": -0.04226520657539368,
                        "yaw": 0.5255851745605469
                    }
                },
                "velocity": {
                    "x": 2.0228421688079834,
                    "y": 0.004815582651644945,
                    "z": -0.0018398857209831476
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.684884071350098,
                "transform": {
                    "location": {
                        "x": 2409.675048828125,
                        "y": 2294.9755859375,
                        "z": 363.6554870605469
                    },
                    "rotation": {
                        "roll": -0.0029602039139717817,
                        "pitch": 0.7940025925636292,
                        "yaw": -178.81776428222656
                    }
                },
                "velocity": {
                    "x": -5.683250427246094,
                    "y": -0.11890102177858353,
                    "z": 0.06661681830883026
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.965442180633545,
                "transform": {
                    "location": {
                        "x": 2388.281005859375,
                        "y": 2325.856201171875,
                        "z": 364.58807373046875
                    },
                    "rotation": {
                        "roll": -0.0012208119733259082,
                        "pitch": -1.3574248552322388,
                        "yaw": -90.23052215576172
                    }
                },
                "velocity": {
                    "x": -0.008969550020992756,
                    "y": -1.9648535251617432,
                    "z": -0.04725683480501175
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.077133178710938,
                "transform": {
                    "location": {
                        "x": 2390.442138671875,
                        "y": 2289.30224609375,
                        "z": 363.7641296386719
                    },
                    "rotation": {
                        "roll": 0.06588434427976608,
                        "pitch": -1.9047211408615112,
                        "yaw": -127.5512466430664
                    }
                },
                "velocity": {
                    "x": -4.52769660949707,
                    "y": -6.683823108673096,
                    "z": -0.25797951221466064
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006451070075854659,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2315.787109375,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.017425568774342537,
                        "pitch": -1.3670076131820679,
                        "yaw": -89.5647201538086
                    }
                },
                "velocity": {
                    "x": -3.576722519937903e-05,
                    "y": -6.7821142692992e-06,
                    "z": 0.0006440790020860732
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.060510635375977,
                "transform": {
                    "location": {
                        "x": 2388.15185546875,
                        "y": 2266.30126953125,
                        "z": 363.2243347167969
                    },
                    "rotation": {
                        "roll": -0.002319291466847062,
                        "pitch": -1.2466665506362915,
                        "yaw": -89.86773681640625
                    }
                },
                "velocity": {
                    "x": 0.01703631691634655,
                    "y": -8.058562278747559,
                    "z": -0.17637984454631805
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007961370283737779,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 6.422254728022381e-07,
                    "y": -2.8837024729000404e-05,
                    "z": -0.0007956143817864358
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.130388985387981e-05,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": 1.8519509467296302e-05,
                    "y": -6.1585902585648e-05,
                    "z": -3.079690577578731e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.422391414642334,
                "transform": {
                    "location": {
                        "x": 2357.052490234375,
                        "y": 2298.233642578125,
                        "z": 364.1194763183594
                    },
                    "rotation": {
                        "roll": 0.0001373309933114797,
                        "pitch": -0.2106361985206604,
                        "yaw": -0.014923096634447575
                    }
                },
                "velocity": {
                    "x": 5.422250747680664,
                    "y": -0.00313475145958364,
                    "z": -0.03893076255917549
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.403039455413818,
                "transform": {
                    "location": {
                        "x": 2371.350830078125,
                        "y": 2298.2177734375,
                        "z": 364.0134582519531
                    },
                    "rotation": {
                        "roll": -0.0033569331280887127,
                        "pitch": -0.12902909517288208,
                        "yaw": -0.148529052734375
                    }
                },
                "velocity": {
                    "x": 5.402899742126465,
                    "y": -0.006873114500194788,
                    "z": -0.03825780749320984
                },
                "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": 0.998548686504364,
        "expert_target_speed": 3.983461039424005,
        "target_point": [
            7.3094666322181086,
            3.2693904206020106
        ],
        "target_point_next": [
            35.41813059880817,
            18.563469103054423
        ]
    },
    "195": {
        "acceleration": [
            -0.5405521392822266,
            1.045384407043457,
            -0.14520108699798584
        ],
        "angular_velocity": [
            -2.1699843406677246,
            -1.9678407907485962,
            18.84674644470215
        ],
        "forward_vector": [
            0.4108821153640747,
            0.9114430546760559,
            0.02115282416343689
        ],
        "right_vector": [
            -0.9116655588150024,
            0.410596638917923,
            0.016623226925730705
        ],
        "location": [
            2384.92626953125,
            2304.3798828125,
            364.0805358886719
        ],
        "rotation": [
            -0.9526976943016052,
            1.2120579481124878,
            65.73396301269531
        ],
        "velocity": [
            0.7180313467979431,
            2.818535327911377,
            0.10307132452726364
        ],
        "speed": 2.90855813242042,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.764577199490085,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.885859489440918,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2315.787109375,
                364.3556213378906
            ],
            "velocity": [
                -5.7222016039304435e-05,
                -3.892213135259226e-05,
                0.0016482123173773289
            ],
            "speed_kmh": 0.005938792387699318,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.1707282066345215,
                "transform": {
                    "location": {
                        "x": 2388.330810546875,
                        "y": 2343.955810546875,
                        "z": 365.0208435058594
                    },
                    "rotation": {
                        "roll": -0.008483931422233582,
                        "pitch": -1.3585450649261475,
                        "yaw": -89.86345672607422
                    }
                },
                "velocity": {
                    "x": 0.005527316126972437,
                    "y": -7.16860294342041,
                    "z": -0.17448705434799194
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.926166534423828,
                "transform": {
                    "location": {
                        "x": 2428.30078125,
                        "y": 2295.369384765625,
                        "z": 363.431396484375
                    },
                    "rotation": {
                        "roll": 0.012106801383197308,
                        "pitch": 0.6368536353111267,
                        "yaw": -178.6598358154297
                    }
                },
                "velocity": {
                    "x": -7.923452377319336,
                    "y": -0.18207673728466034,
                    "z": 0.0993400365114212
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.3373868465423584,
                "transform": {
                    "location": {
                        "x": 2342.770263671875,
                        "y": 2298.2255859375,
                        "z": 364.1831970214844
                    },
                    "rotation": {
                        "roll": -0.0006408690242096782,
                        "pitch": 0.003879547119140625,
                        "yaw": 0.48573294281959534
                    }
                },
                "velocity": {
                    "x": 3.3373777866363525,
                    "y": 0.007278802804648876,
                    "z": -0.002840766916051507
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.930012226104736,
                "transform": {
                    "location": {
                        "x": 2407.977783203125,
                        "y": 2294.940185546875,
                        "z": 363.6756896972656
                    },
                    "rotation": {
                        "roll": -0.0021057126577943563,
                        "pitch": 1.0574908256530762,
                        "yaw": -178.8193817138672
                    }
                },
                "velocity": {
                    "x": -7.927735328674316,
                    "y": -0.16535910964012146,
                    "z": 0.09360288083553314
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005661789327859879,
                "transform": {
                    "location": {
                        "x": 2388.280029296875,
                        "y": 2325.670166015625,
                        "z": 364.583984375
                    },
                    "rotation": {
                        "roll": -0.0010375914862379432,
                        "pitch": -1.400420904159546,
                        "yaw": -90.23640441894531
                    }
                },
                "velocity": {
                    "x": -5.9107685956405476e-05,
                    "y": -4.292726316634798e-06,
                    "z": -0.0005630687810480595
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.916959285736084,
                "transform": {
                    "location": {
                        "x": 2389.450927734375,
                        "y": 2287.564697265625,
                        "z": 363.70123291015625
                    },
                    "rotation": {
                        "roll": -0.47564682364463806,
                        "pitch": -1.191833734512329,
                        "yaw": -118.9357681274414
                    }
                },
                "velocity": {
                    "x": -3.3928301334381104,
                    "y": -7.150933265686035,
                    "z": -0.17636214196681976
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0016496645985171199,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2315.787109375,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.017425568774342537,
                        "pitch": -1.3670076131820679,
                        "yaw": -89.5647201538086
                    }
                },
                "velocity": {
                    "x": -5.7222016039304435e-05,
                    "y": -3.892213135259226e-05,
                    "z": 0.0016482123173773289
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.090923309326172,
                "transform": {
                    "location": {
                        "x": 2388.156005859375,
                        "y": 2264.282958984375,
                        "z": 363.1803894042969
                    },
                    "rotation": {
                        "roll": -0.0002136539842467755,
                        "pitch": -1.2457581758499146,
                        "yaw": -89.88874053955078
                    }
                },
                "velocity": {
                    "x": 0.01451221201568842,
                    "y": -8.08903980255127,
                    "z": -0.1739475429058075
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0005049762548878789,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 9.251511073671281e-06,
                    "y": -3.5412609577178955e-05,
                    "z": -0.0005036480724811554
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00017880092491395772,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": -1.2819697076338343e-05,
                    "y": -7.152840407798067e-05,
                    "z": -0.0001633680221857503
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.5548248291015625,
                "transform": {
                    "location": {
                        "x": 2358.42236328125,
                        "y": 2298.233642578125,
                        "z": 364.10888671875
                    },
                    "rotation": {
                        "roll": 0.0017963978461921215,
                        "pitch": -0.353878915309906,
                        "yaw": -0.02441406063735485
                    }
                },
                "velocity": {
                    "x": 5.554670810699463,
                    "y": -0.003446847666054964,
                    "z": -0.04125427454710007
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.665116310119629,
                "transform": {
                    "location": {
                        "x": 2372.726318359375,
                        "y": 2298.2158203125,
                        "z": 364.0030517578125
                    },
                    "rotation": {
                        "roll": -0.002899169921875,
                        "pitch": -0.2987661063671112,
                        "yaw": -0.0995178148150444
                    }
                },
                "velocity": {
                    "x": 5.664957046508789,
                    "y": -0.0044574798084795475,
                    "z": -0.04222312197089195
                },
                "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": 0.9995215535163879,
        "expert_target_speed": 4.085343570484329,
        "target_point": [
            36.082842763528184,
            15.624103641992257
        ],
        "target_point_next": [
            36.082842763528184,
            15.624103641992257
        ]
    },
    "200": {
        "acceleration": [
            -0.3777170181274414,
            2.0540332794189453,
            0.03387138247489929
        ],
        "angular_velocity": [
            0.7750319838523865,
            -0.45939016342163086,
            18.195823669433594
        ],
        "forward_vector": [
            0.33588504791259766,
            0.9416164755821228,
            0.023227745667099953
        ],
        "right_vector": [
            -0.9418880343437195,
            0.3356389105319977,
            0.013904421590268612
        ],
        "location": [
            2385.114013671875,
            2305.130615234375,
            364.0986328125
        ],
        "rotation": [
            -0.7969054579734802,
            1.330971598625183,
            70.36811828613281
        ],
        "velocity": [
            0.6431686282157898,
            3.2510414123535156,
            0.06757672876119614
        ],
        "speed": 3.3140513196325916,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.7207748979761015,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.112418174743652,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2315.787109375,
                364.3556213378906
            ],
            "velocity": [
                6.948087684577331e-05,
                -2.9655397156602703e-05,
                0.0007030206616036594
            ],
            "speed_kmh": 0.0025454446188600704,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.131915092468262,
                "transform": {
                    "location": {
                        "x": 2388.33251953125,
                        "y": 2342.062744140625,
                        "z": 364.9748229980469
                    },
                    "rotation": {
                        "roll": -0.005889818537980318,
                        "pitch": -1.3612293004989624,
                        "yaw": -89.97784423828125
                    }
                },
                "velocity": {
                    "x": 0.00039907291647978127,
                    "y": -8.12951374053955,
                    "z": -0.19759410619735718
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.123165130615234,
                "transform": {
                    "location": {
                        "x": 2426.292236328125,
                        "y": 2295.323974609375,
                        "z": 363.4552917480469
                    },
                    "rotation": {
                        "roll": 0.0056546274572610855,
                        "pitch": 0.7704726457595825,
                        "yaw": -178.7161865234375
                    }
                },
                "velocity": {
                    "x": -8.120522499084473,
                    "y": -0.18176300823688507,
                    "z": 0.09948930889368057
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.8502678871154785,
                "transform": {
                    "location": {
                        "x": 2343.803466796875,
                        "y": 2298.22802734375,
                        "z": 364.1816711425781
                    },
                    "rotation": {
                        "roll": 0.0006519317394122481,
                        "pitch": 0.01808634027838707,
                        "yaw": 0.4231150448322296
                    }
                },
                "velocity": {
                    "x": 4.850249290466309,
                    "y": 0.005192545708268881,
                    "z": -0.012334994971752167
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.22510814666748,
                "transform": {
                    "location": {
                        "x": 2405.89990234375,
                        "y": 2294.897216796875,
                        "z": 363.6994323730469
                    },
                    "rotation": {
                        "roll": -0.0008544925367459655,
                        "pitch": 0.793558657169342,
                        "yaw": -178.79742431640625
                    }
                },
                "velocity": {
                    "x": -8.222766876220703,
                    "y": -0.1719857156276703,
                    "z": 0.09452121704816818
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007214360521174967,
                "transform": {
                    "location": {
                        "x": 2388.280029296875,
                        "y": 2325.670166015625,
                        "z": 364.5837097167969
                    },
                    "rotation": {
                        "roll": -0.0019226587610319257,
                        "pitch": -1.3675881624221802,
                        "yaw": -90.23643493652344
                    }
                },
                "velocity": {
                    "x": -0.00010094094614032656,
                    "y": -1.4674066733277868e-05,
                    "z": -0.0007141887908801436
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.019560813903809,
                "transform": {
                    "location": {
                        "x": 2388.75439453125,
                        "y": 2285.697021484375,
                        "z": 363.66009521484375
                    },
                    "rotation": {
                        "roll": -0.7421569228172302,
                        "pitch": -1.234126329421997,
                        "yaw": -109.46571350097656
                    }
                },
                "velocity": {
                    "x": -2.0034515857696533,
                    "y": -7.763392925262451,
                    "z": -0.17109914124011993
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0007070679566822946,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2315.787109375,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.017425568774342537,
                        "pitch": -1.3670076131820679,
                        "yaw": -89.5647201538086
                    }
                },
                "velocity": {
                    "x": 6.948087684577331e-05,
                    "y": -2.9655397156602703e-05,
                    "z": 0.0007030206616036594
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.060120582580566,
                "transform": {
                    "location": {
                        "x": 2388.159912109375,
                        "y": 2262.264892578125,
                        "z": 363.1368713378906
                    },
                    "rotation": {
                        "roll": -0.0012817570241168141,
                        "pitch": -1.231749415397644,
                        "yaw": -89.89464569091797
                    }
                },
                "velocity": {
                    "x": 0.013831716030836105,
                    "y": -8.058243751525879,
                    "z": -0.17338009178638458
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0008690417162142694,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -2.8448744160414208e-06,
                    "y": -2.8565078537212685e-05,
                    "z": -0.0008685674984008074
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.618551510153338e-05,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": 1.5521136447205208e-05,
                    "y": -7.249444752233103e-05,
                    "z": -4.3949883547611535e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.954224586486816,
                "transform": {
                    "location": {
                        "x": 2360.054443359375,
                        "y": 2298.232177734375,
                        "z": 364.09674072265625
                    },
                    "rotation": {
                        "roll": 0.001484469510614872,
                        "pitch": -0.24816125631332397,
                        "yaw": -0.0574951134622097
                    }
                },
                "velocity": {
                    "x": 6.954028129577637,
                    "y": -0.004836806561797857,
                    "z": -0.05202488601207733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.594570636749268,
                "transform": {
                    "location": {
                        "x": 2374.33154296875,
                        "y": 2298.215576171875,
                        "z": 363.990966796875
                    },
                    "rotation": {
                        "roll": -0.0024414060171693563,
                        "pitch": -0.078034907579422,
                        "yaw": -0.0449523963034153
                    }
                },
                "velocity": {
                    "x": 7.594356060028076,
                    "y": -0.00287074176594615,
                    "z": -0.05702628940343857
                },
                "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": 0.9079216122627258,
        "expert_target_speed": 4.485853086913899,
        "target_point": [
            36.457034876497445,
            12.582381078631808
        ],
        "target_point_next": [
            36.457034876497445,
            12.582381078631808
        ]
    },
    "205": {
        "acceleration": [
            -0.7531684637069702,
            1.8589019775390625,
            0.05978778004646301
        ],
        "angular_velocity": [
            0.25242698192596436,
            -0.37481653690338135,
            19.394895553588867
        ],
        "forward_vector": [
            0.2576829195022583,
            0.9658839702606201,
            0.025837881490588188
        ],
        "right_vector": [
            -0.9662142992019653,
            0.25743675231933594,
            0.01249691378325224
        ],
        "location": [
            2385.275146484375,
            2306.005615234375,
            364.11712646484375
        ],
        "rotation": [
            -0.7162781953811646,
            1.480566382408142,
            75.0622787475586
        ],
        "velocity": [
            0.4972124993801117,
            3.7568767070770264,
            0.08451833575963974
        ],
        "speed": 3.7896362439840763,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.672766417218299,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.227781295776367,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.25390625,
                2315.787109375,
                364.3556213378906
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4423,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2440.52734375,
                        "y": 2295.71044921875,
                        "z": 363.55230712890625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.7638199925422668,
                        "yaw": -178.81739807128906
                    }
                },
                "velocity": {
                    "x": -4.373284845371472e-09,
                    "y": -9.027805586425686e-11,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.849207401275635,
                "transform": {
                    "location": {
                        "x": 2388.331787109375,
                        "y": 2340.0126953125,
                        "z": 364.9254150390625
                    },
                    "rotation": {
                        "roll": -0.0031432360410690308,
                        "pitch": -1.3880583047866821,
                        "yaw": -90.07845306396484
                    }
                },
                "velocity": {
                    "x": -0.013053852133452892,
                    "y": -7.846924781799316,
                    "z": -0.1888158619403839
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.11443042755127,
                "transform": {
                    "location": {
                        "x": 2424.258544921875,
                        "y": 2295.279052734375,
                        "z": 363.4804992675781
                    },
                    "rotation": {
                        "roll": 0.006121404469013214,
                        "pitch": 0.7292523980140686,
                        "yaw": -178.7476043701172
                    }
                },
                "velocity": {
                    "x": -8.111929893493652,
                    "y": -0.1752459853887558,
                    "z": 0.09933984279632568
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.632351875305176,
                "transform": {
                    "location": {
                        "x": 2345.139892578125,
                        "y": 2298.2314453125,
                        "z": 364.1779479980469
                    },
                    "rotation": {
                        "roll": 0.0019459739560261369,
                        "pitch": -0.02807890623807907,
                        "yaw": 0.2310999184846878
                    }
                },
                "velocity": {
                    "x": 6.632320880889893,
                    "y": 0.005484987981617451,
                    "z": -0.019501090049743652
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.797665596008301,
                "transform": {
                    "location": {
                        "x": 2403.919921875,
                        "y": 2294.810546875,
                        "z": 363.7218017578125
                    },
                    "rotation": {
                        "roll": -0.1032104343175888,
                        "pitch": 0.5990758538246155,
                        "yaw": -177.39556884765625
                    }
                },
                "velocity": {
                    "x": -7.785577297210693,
                    "y": -0.42536601424217224,
                    "z": 0.08625780045986176
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00029868047568015754,
                "transform": {
                    "location": {
                        "x": 2388.280029296875,
                        "y": 2325.669921875,
                        "z": 364.5836486816406
                    },
                    "rotation": {
                        "roll": -0.0015868665650486946,
                        "pitch": -1.3621513843536377,
                        "yaw": -90.23654174804688
                    }
                },
                "velocity": {
                    "x": -0.00015137555601540953,
                    "y": -3.9789825677871704e-05,
                    "z": -0.00025438598822802305
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.121005058288574,
                "transform": {
                    "location": {
                        "x": 2388.404052734375,
                        "y": 2283.7080078125,
                        "z": 363.61541748046875
                    },
                    "rotation": {
                        "roll": -0.6596985459327698,
                        "pitch": -1.2874155044555664,
                        "yaw": -99.35327911376953
                    }
                },
                "velocity": {
                    "x": -0.9624673128128052,
                    "y": -8.06180477142334,
                    "z": -0.17799268662929535
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2388.25390625,
                        "y": 2315.787109375,
                        "z": 364.3556213378906
                    },
                    "rotation": {
                        "roll": -0.017425568774342537,
                        "pitch": -1.3670076131820679,
                        "yaw": -89.5647201538086
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.092020988464355,
                "transform": {
                    "location": {
                        "x": 2388.162841796875,
                        "y": 2260.24560546875,
                        "z": 363.093505859375
                    },
                    "rotation": {
                        "roll": 0.0002728435501921922,
                        "pitch": -1.2299803495407104,
                        "yaw": -89.90557861328125
                    }
                },
                "velocity": {
                    "x": 0.013367291539907455,
                    "y": -8.090134620666504,
                    "z": -0.1741935908794403
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00017045825370587409,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 4.488392733037472e-06,
                    "y": -4.405274739838205e-05,
                    "z": -0.0001646062737563625
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000323299114825204,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": 2.031997973972466e-05,
                    "y": -3.456056219874881e-05,
                    "z": -0.0003208036650903523
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.914251327514648,
                "transform": {
                    "location": {
                        "x": 2361.6298828125,
                        "y": 2298.228759765625,
                        "z": 364.08441162109375
                    },
                    "rotation": {
                        "roll": 0.00857612956315279,
                        "pitch": -0.6122103333473206,
                        "yaw": -0.26220703125
                    }
                },
                "velocity": {
                    "x": 4.914098262786865,
                    "y": -0.014330469071865082,
                    "z": -0.03601808845996857
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.347005844116211,
                "transform": {
                    "location": {
                        "x": 2376.394287109375,
                        "y": 2298.215576171875,
                        "z": 363.9754638671875
                    },
                    "rotation": {
                        "roll": -0.004425048828125,
                        "pitch": -0.22515717148780823,
                        "yaw": -0.005371093284338713
                    }
                },
                "velocity": {
                    "x": 8.346759796142578,
                    "y": 0.0021356234792619944,
                    "z": -0.0639970451593399
                },
                "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": 0.705456554889679,
        "expert_target_speed": 4.956192925249873,
        "target_point": [
            36.47748982071169,
            9.48676917472982
        ],
        "target_point_next": [
            36.47748982071169,
            9.48676917472982
        ]
    },
    "210": {
        "acceleration": [
            -0.7673853635787964,
            1.4287757873535156,
            0.08677452802658081
        ],
        "angular_velocity": [
            0.01068139262497425,
            -0.24901136755943298,
            17.522607803344727
        ],
        "forward_vector": [
            0.1787445843219757,
            0.9835388660430908,
            0.0264893751591444
        ],
        "right_vector": [
            -0.9838727712631226,
            0.17849262058734894,
            0.011608642525970936
        ],
        "location": [
            2385.390380859375,
            2306.996826171875,
            364.14013671875
        ],
        "rotation": [
            -0.6653746366500854,
            1.5179070234298706,
            79.69969940185547
        ],
        "velocity": [
            0.30151399970054626,
            4.163165092468262,
            0.10319498181343079
        ],
        "speed": 4.174069271006615,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.6239172845192957,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.212464332580566,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.2548828125,
                2315.75,
                364.3547668457031
            ],
            "velocity": [
                0.009166457690298557,
                -0.3343151807785034,
                -0.00695427879691124
            ],
            "speed_kmh": 1.2042472243967228,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4424,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2330.9228515625,
                        "y": 2298.15380859375,
                        "z": 364.52203369140625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.15185558795928955,
                        "yaw": -0.0448608361184597
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4423,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13127672672271729,
                "transform": {
                    "location": {
                        "x": 2440.525634765625,
                        "y": 2295.71044921875,
                        "z": 363.1944580078125
                    },
                    "rotation": {
                        "roll": 0.0008540238486602902,
                        "pitch": 0.7684099078178406,
                        "yaw": -178.8174285888672
                    }
                },
                "velocity": {
                    "x": -0.001723283319734037,
                    "y": -0.00016581907402724028,
                    "z": -0.1312653124332428
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.636501789093018,
                "transform": {
                    "location": {
                        "x": 2388.32861328125,
                        "y": 2338.206787109375,
                        "z": 364.8821105957031
                    },
                    "rotation": {
                        "roll": -0.0018921697046607733,
                        "pitch": -1.4197981357574463,
                        "yaw": -90.1549301147461
                    }
                },
                "velocity": {
                    "x": -0.01753327064216137,
                    "y": -6.63455867767334,
                    "z": -0.1596159189939499
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.0033540725708,
                "transform": {
                    "location": {
                        "x": 2422.248291015625,
                        "y": 2295.23583984375,
                        "z": 363.5055847167969
                    },
                    "rotation": {
                        "roll": 0.002828821772709489,
                        "pitch": 0.6808537244796753,
                        "yaw": -178.7671661376953
                    }
                },
                "velocity": {
                    "x": -8.000896453857422,
                    "y": -0.17168252170085907,
                    "z": 0.09930763393640518
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.897972106933594,
                "transform": {
                    "location": {
                        "x": 2347.001708984375,
                        "y": 2298.234375,
                        "z": 364.1726989746094
                    },
                    "rotation": {
                        "roll": 0.0005353421438485384,
                        "pitch": -0.11758170276880264,
                        "yaw": 0.08708972483873367
                    }
                },
                "velocity": {
                    "x": 7.897914409637451,
                    "y": 0.004481235519051552,
                    "z": -0.02987826243042946
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.168725967407227,
                "transform": {
                    "location": {
                        "x": 2401.927490234375,
                        "y": 2294.68896484375,
                        "z": 363.7437744140625
                    },
                    "rotation": {
                        "roll": -0.0525512620806694,
                        "pitch": 0.6852591633796692,
                        "yaw": -176.46319580078125
                    }
                },
                "velocity": {
                    "x": -8.15085220336914,
                    "y": -0.5328845381736755,
                    "z": 0.08790670335292816
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.995036528678611e-05,
                "transform": {
                    "location": {
                        "x": 2388.280029296875,
                        "y": 2325.669921875,
                        "z": 364.5836486816406
                    },
                    "rotation": {
                        "roll": -0.0015868665650486946,
                        "pitch": -1.3621513843536377,
                        "yaw": -90.23654174804688
                    }
                },
                "velocity": {
                    "x": -8.327618274961424e-07,
                    "y": -4.536360575002618e-05,
                    "z": -5.324005906004459e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.011333465576172,
                "transform": {
                    "location": {
                        "x": 2388.255126953125,
                        "y": 2281.700927734375,
                        "z": 363.5706481933594
                    },
                    "rotation": {
                        "roll": -0.4446105659008026,
                        "pitch": -1.3132882118225098,
                        "yaw": -93.77642822265625
                    }
                },
                "velocity": {
                    "x": -0.355743408203125,
                    "y": -8.001407623291016,
                    "z": -0.1799710988998413
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.3345131278038025,
                "transform": {
                    "location": {
                        "x": 2388.2548828125,
                        "y": 2315.75,
                        "z": 364.3547668457031
                    },
                    "rotation": {
                        "roll": -0.020019592717289925,
                        "pitch": -1.3148523569107056,
                        "yaw": -89.5500717163086
                    }
                },
                "velocity": {
                    "x": 0.009166457690298557,
                    "y": -0.3343151807785034,
                    "z": -0.00695427879691124
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.058915138244629,
                "transform": {
                    "location": {
                        "x": 2388.166748046875,
                        "y": 2258.2275390625,
                        "z": 363.05029296875
                    },
                    "rotation": {
                        "roll": -0.00070185586810112,
                        "pitch": -1.2260462045669556,
                        "yaw": -89.8941650390625
                    }
                },
                "velocity": {
                    "x": 0.015785884112119675,
                    "y": -8.057061195373535,
                    "z": -0.17209464311599731
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007518024649471045,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -4.3135496525792405e-06,
                    "y": -2.9234586691018194e-05,
                    "z": -0.0007512214360758662
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014383257075678557,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": -1.1831089977931697e-05,
                    "y": -6.48701170575805e-05,
                    "z": -0.0001278268318856135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.49213483929634094,
                "transform": {
                    "location": {
                        "x": 2362.05859375,
                        "y": 2298.2275390625,
                        "z": 364.0803527832031
                    },
                    "rotation": {
                        "roll": 0.0041784727945923805,
                        "pitch": -1.0424507856369019,
                        "yaw": -0.200927734375
                    }
                },
                "velocity": {
                    "x": 0.4921252727508545,
                    "y": -0.0005133798695169389,
                    "z": -0.0030223559588193893
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.82780122756958,
                "transform": {
                    "location": {
                        "x": 2378.40380859375,
                        "y": 2298.216796875,
                        "z": 363.96002197265625
                    },
                    "rotation": {
                        "roll": -0.0026245112530887127,
                        "pitch": -0.47613245248794556,
                        "yaw": 0.03267798200249672
                    }
                },
                "velocity": {
                    "x": 7.827571392059326,
                    "y": 0.00534840626642108,
                    "z": -0.05976810306310654
                },
                "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": 0.4816102683544159,
        "expert_target_speed": 5.335066436057429,
        "target_point": [
            36.12923346684305,
            6.4426663239376465
        ],
        "target_point_next": [
            36.12923346684305,
            6.4426663239376465
        ]
    },
    "215": {
        "acceleration": [
            -1.1206823587417603,
            -0.09878158569335938,
            -0.01641392707824707
        ],
        "angular_velocity": [
            -0.33142632246017456,
            -0.3367607295513153,
            15.865113258361816
        ],
        "forward_vector": [
            0.10824792832136154,
            0.9937854409217834,
            0.025938937440514565
        ],
        "right_vector": [
            -0.9941012263298035,
            0.10803218930959702,
            0.009582944214344025
        ],
        "location": [
            2385.45361328125,
            2308.060302734375,
            364.1661682128906
        ],
        "rotation": [
            -0.5492554903030396,
            1.486358404159546,
            83.78357696533203
        ],
        "velocity": [
            0.07362821698188782,
            4.296800136566162,
            0.10257402062416077
        ],
        "speed": 4.297430921833523,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.5786668520692104,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.985453128814697,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.260498046875,
                2315.533935546875,
                364.34967041015625
            ],
            "velocity": [
                0.03686019033193588,
                -1.3955296277999878,
                -0.033920735120773315
            ],
            "speed_kmh": 5.0271421828242895,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4424,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6192679405212402,
                "transform": {
                    "location": {
                        "x": 2330.923095703125,
                        "y": 2298.15380859375,
                        "z": 364.1159362792969
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": 0.15172581374645233,
                        "yaw": -0.04486083984375
                    }
                },
                "velocity": {
                    "x": 0.0016353523824363947,
                    "y": 8.59932042658329e-05,
                    "z": -0.6192657947540283
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4423,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1861455738544464,
                "transform": {
                    "location": {
                        "x": 2440.526123046875,
                        "y": 2295.71044921875,
                        "z": 363.2413330078125
                    },
                    "rotation": {
                        "roll": 0.0001575437345309183,
                        "pitch": 0.768471360206604,
                        "yaw": -178.8173828125
                    }
                },
                "velocity": {
                    "x": 0.002500659553334117,
                    "y": -2.37850963458186e-05,
                    "z": 0.18612876534461975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.178629159927368,
                "transform": {
                    "location": {
                        "x": 2388.32568359375,
                        "y": 2337.0498046875,
                        "z": 364.85479736328125
                    },
                    "rotation": {
                        "roll": -0.0009156168671324849,
                        "pitch": -1.5105235576629639,
                        "yaw": -90.17801666259766
                    }
                },
                "velocity": {
                    "x": -0.006468032952398062,
                    "y": -2.1779751777648926,
                    "z": -0.052982959896326065
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.083638191223145,
                "transform": {
                    "location": {
                        "x": 2420.238525390625,
                        "y": 2295.19287109375,
                        "z": 363.5301208496094
                    },
                    "rotation": {
                        "roll": 0.002532544080168009,
                        "pitch": 0.7152642011642456,
                        "yaw": -178.78204345703125
                    }
                },
                "velocity": {
                    "x": -8.081216812133789,
                    "y": -0.17083242535591125,
                    "z": 0.09977487474679947
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.885666370391846,
                "transform": {
                    "location": {
                        "x": 2348.873779296875,
                        "y": 2298.2353515625,
                        "z": 364.1649475097656
                    },
                    "rotation": {
                        "roll": 0.0005364602548070252,
                        "pitch": -0.30935972929000854,
                        "yaw": 0.027665959671139717
                    }
                },
                "velocity": {
                    "x": 6.885549068450928,
                    "y": -0.00016752147348597646,
                    "z": -0.040227260440588
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.013486862182617,
                "transform": {
                    "location": {
                        "x": 2399.89990234375,
                        "y": 2294.546875,
                        "z": 363.76556396484375
                    },
                    "rotation": {
                        "roll": -0.09484859555959702,
                        "pitch": 0.6089249849319458,
                        "yaw": -175.91299438476562
                    }
                },
                "velocity": {
                    "x": -7.981899738311768,
                    "y": -0.7055608034133911,
                    "z": 0.08620218187570572
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.371248648269102e-05,
                "transform": {
                    "location": {
                        "x": 2388.280029296875,
                        "y": 2325.669921875,
                        "z": 364.5836486816406
                    },
                    "rotation": {
                        "roll": -0.0015868665650486946,
                        "pitch": -1.3621513843536377,
                        "yaw": -90.23654174804688
                    }
                },
                "velocity": {
                    "x": 1.4756719792785589e-05,
                    "y": -4.4779029849451035e-05,
                    "z": -5.666223296429962e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.055718421936035,
                "transform": {
                    "location": {
                        "x": 2388.195068359375,
                        "y": 2279.69580078125,
                        "z": 363.5257873535156
                    },
                    "rotation": {
                        "roll": -0.22015374898910522,
                        "pitch": -1.2835973501205444,
                        "yaw": -91.56298828125
                    }
                },
                "velocity": {
                    "x": -0.1501002162694931,
                    "y": -8.052358627319336,
                    "z": -0.17771513760089874
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.3964283466339111,
                "transform": {
                    "location": {
                        "x": 2388.260498046875,
                        "y": 2315.533935546875,
                        "z": 364.34967041015625
                    },
                    "rotation": {
                        "roll": -0.032836880534887314,
                        "pitch": -1.19113028049469,
                        "yaw": -89.3721923828125
                    }
                },
                "velocity": {
                    "x": 0.03686019033193588,
                    "y": -1.3955296277999878,
                    "z": -0.033920735120773315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.092248916625977,
                "transform": {
                    "location": {
                        "x": 2388.17041015625,
                        "y": 2256.208740234375,
                        "z": 363.0072937011719
                    },
                    "rotation": {
                        "roll": 0.0010536854388192296,
                        "pitch": -1.2114158868789673,
                        "yaw": -89.8984375
                    }
                },
                "velocity": {
                    "x": 0.012996194884181023,
                    "y": -8.090438842773438,
                    "z": -0.17066623270511627
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0007177675142884254,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -2.028035123657901e-05,
                    "y": -3.19305072480347e-05,
                    "z": -0.0007167700678110123
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.370084444526583e-05,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.897216796875,
                        "z": 365.349609375
                    },
                    "rotation": {
                        "roll": 0.0013420608593150973,
                        "pitch": 1.4145457744598389,
                        "yaw": 89.73824310302734
                    }
                },
                "velocity": {
                    "x": 8.488746061630081e-06,
                    "y": -5.867197978659533e-05,
                    "z": -7.256300159497187e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6819744110107422,
                "transform": {
                    "location": {
                        "x": 2362.365966796875,
                        "y": 2298.227783203125,
                        "z": 364.0788879394531
                    },
                    "rotation": {
                        "roll": 0.0005221967585384846,
                        "pitch": -0.4423162043094635,
                        "yaw": -0.1888732761144638
                    }
                },
                "velocity": {
                    "x": 1.6819372177124023,
                    "y": -0.002181237330660224,
                    "z": -0.010973768308758736
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.1124906539917,
                "transform": {
                    "location": {
                        "x": 2380.3857421875,
                        "y": 2298.21875,
                        "z": 363.94476318359375
                    },
                    "rotation": {
                        "roll": -0.0018310548039153218,
                        "pitch": -0.4156443178653717,
                        "yaw": 0.04445134475827217
                    }
                },
                "velocity": {
                    "x": 8.112245559692383,
                    "y": 0.007149189710617065,
                    "z": -0.06267134845256805
                },
                "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": 0.3341042399406433,
        "expert_target_speed": 5.454720697336506,
        "target_point": [
            35.43224929928587,
            3.8010270832481687
        ],
        "target_point_next": [
            35.43224929928587,
            3.8010270832481687
        ]
    },
    "220": {
        "acceleration": [
            -0.4903101921081543,
            -1.3686656951904297,
            -0.0369243323802948
        ],
        "angular_velocity": [
            -0.47202757000923157,
            -0.8319587707519531,
            12.779648780822754
        ],
        "forward_vector": [
            0.043536629527807236,
            0.9987522959709167,
            0.02446228638291359
        ],
        "right_vector": [
            -0.9990313649177551,
            0.04336586222052574,
            0.007468926254659891
        ],
        "location": [
            2385.451904296875,
            2309.115234375,
            364.1915283203125
        ],
        "rotation": [
            -0.4280700385570526,
            1.4017255306243896,
            87.50399780273438
        ],
        "velocity": [
            -0.15620748698711395,
            4.1114654541015625,
            0.09754041582345963
        ],
        "speed": 4.114431790571014,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.542383903852875,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.552171230316162,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.274169921875,
                2315.026611328125,
                364.3377685546875
            ],
            "velocity": [
                0.07400666177272797,
                -2.693970203399658,
                -0.06389141827821732
            ],
            "speed_kmh": 9.704677627172124,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4424,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.22972850501537323,
                "transform": {
                    "location": {
                        "x": 2330.923095703125,
                        "y": 2298.15380859375,
                        "z": 364.1374816894531
                    },
                    "rotation": {
                        "roll": -0.0009155274019576609,
                        "pitch": 0.1520058512687683,
                        "yaw": -0.0448608361184597
                    }
                },
                "velocity": {
                    "x": -0.0006117555312812328,
                    "y": -1.611650259292219e-05,
                    "z": 0.22972768545150757
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4423,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5998029708862305,
                "transform": {
                    "location": {
                        "x": 2440.49951171875,
                        "y": 2295.709716796875,
                        "z": 363.262451171875
                    },
                    "rotation": {
                        "roll": 9.87425955827348e-05,
                        "pitch": 0.7814487218856812,
                        "yaw": -178.8105926513672
                    }
                },
                "velocity": {
                    "x": -0.5988982915878296,
                    "y": -0.018035273998975754,
                    "z": 0.02755342423915863
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.35874685645103455,
                "transform": {
                    "location": {
                        "x": 2388.32568359375,
                        "y": 2336.93359375,
                        "z": 364.8517150878906
                    },
                    "rotation": {
                        "roll": -0.0014648643555119634,
                        "pitch": -1.4707309007644653,
                        "yaw": -90.20343017578125
                    }
                },
                "velocity": {
                    "x": -0.001991452183574438,
                    "y": -0.3586472272872925,
                    "z": -0.008215760812163353
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.067070960998535,
                "transform": {
                    "location": {
                        "x": 2418.21826171875,
                        "y": 2295.149658203125,
                        "z": 363.5548400878906
                    },
                    "rotation": {
                        "roll": 0.001732374425046146,
                        "pitch": 0.7225656509399414,
                        "yaw": -178.79605102539062
                    }
                },
                "velocity": {
                    "x": -8.064680099487305,
                    "y": -0.16952958703041077,
                    "z": 0.09912187606096268
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.455347776412964,
                "transform": {
                    "location": {
                        "x": 2350.170166015625,
                        "y": 2298.23486328125,
                        "z": 364.15960693359375
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": -0.5971360802650452,
                        "yaw": 0.07151662558317184
                    }
                },
                "velocity": {
                    "x": 2.455308675765991,
                    "y": -0.003985549323260784,
                    "z": -0.013293266296386719
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.965967178344727,
                "transform": {
                    "location": {
                        "x": 2397.931396484375,
                        "y": 2294.290283203125,
                        "z": 363.7863464355469
                    },
                    "rotation": {
                        "roll": -0.3348388075828552,
                        "pitch": 0.57405686378479,
                        "yaw": -172.16529846191406
                    }
                },
                "velocity": {
                    "x": -7.851095199584961,
                    "y": -1.3454952239990234,
                    "z": 0.08113481104373932
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 7.854621071601287e-05,
                "transform": {
                    "location": {
                        "x": 2388.280029296875,
                        "y": 2325.669921875,
                        "z": 364.5836486816406
                    },
                    "rotation": {
                        "roll": -0.0015868665650486946,
                        "pitch": -1.3621513843536377,
                        "yaw": -90.23654174804688
                    }
                },
                "velocity": {
                    "x": -1.5964169506332837e-05,
                    "y": -4.728123531094752e-05,
                    "z": 6.065588604542427e-05
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.063226699829102,
                "transform": {
                    "location": {
                        "x": 2388.16796875,
                        "y": 2277.679443359375,
                        "z": 363.48101806640625
                    },
                    "rotation": {
                        "roll": -0.09945674985647202,
                        "pitch": -1.2832012176513672,
                        "yaw": -90.68277740478516
                    }
                },
                "velocity": {
                    "x": -0.0615144819021225,
                    "y": -8.061026573181152,
                    "z": -0.17800331115722656
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6957437992095947,
                "transform": {
                    "location": {
                        "x": 2388.274169921875,
                        "y": 2315.026611328125,
                        "z": 364.3377685546875
                    },
                    "rotation": {
                        "roll": -0.03921512886881828,
                        "pitch": -1.1160869598388672,
                        "yaw": -89.12193298339844
                    }
                },
                "velocity": {
                    "x": 0.07400666177272797,
                    "y": -2.693970203399658,
                    "z": -0.06389141827821732
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.059324264526367,
                "transform": {
                    "location": {
                        "x": 2388.173583984375,
                        "y": 2254.190185546875,
                        "z": 362.9646301269531
                    },
                    "rotation": {
                        "roll": 0.00044091258314438164,
                        "pitch": -1.2115730047225952,
                        "yaw": -89.90898895263672
                    }
                },
                "velocity": {
                    "x": 0.01277411449700594,
                    "y": -8.057513236999512,
                    "z": -0.17036403715610504
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.000646478496491909,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 2.6853369945456507e-06,
                    "y": -2.994283931911923e-05,
                    "z": -0.0006457791314460337
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0064117908477783,
                "transform": {
                    "location": {
                        "x": 2385.572021484375,
                        "y": 2356.9619140625,
                        "z": 365.35186767578125
                    },
                    "rotation": {
                        "roll": 0.004028606228530407,
                        "pitch": 1.3324674367904663,
                        "yaw": 89.75794982910156
                    }
                },
                "velocity": {
                    "x": -0.005900336895138025,
                    "y": 1.0061031579971313,
                    "z": 0.024216298013925552
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.932568311691284,
                "transform": {
                    "location": {
                        "x": 2362.93408203125,
                        "y": 2298.227783203125,
                        "z": 364.0749206542969
                    },
                    "rotation": {
                        "roll": -0.00054931640625,
                        "pitch": -0.2821960747241974,
                        "yaw": -0.1369933933019638
                    }
                },
                "velocity": {
                    "x": 2.9324843883514404,
                    "y": -0.003515282180160284,
                    "z": -0.02191256918013096
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.089022636413574,
                "transform": {
                    "location": {
                        "x": 2382.42431640625,
                        "y": 2298.22705078125,
                        "z": 363.9284362792969
                    },
                    "rotation": {
                        "roll": -0.01574706844985485,
                        "pitch": -0.462677001953125,
                        "yaw": 0.2395857870578766
                    }
                },
                "velocity": {
                    "x": 8.088656425476074,
                    "y": 0.04215247929096222,
                    "z": -0.06443026661872864
                },
                "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": 0.21398590505123138,
        "expert_target_speed": 5.271646084999411,
        "target_point": [
            34.55036196608155,
            1.446249894940149
        ],
        "target_point_next": [
            34.55036196608155,
            1.446249894940149
        ]
    },
    "225": {
        "acceleration": [
            0.7763149738311768,
            -2.959613800048828,
            -0.08834987878799438
        ],
        "angular_velocity": [
            -0.7490834593772888,
            -1.242774486541748,
            3.3787858486175537
        ],
        "forward_vector": [
            0.010024173185229301,
            0.999719500541687,
            0.021459123119711876
        ],
        "right_vector": [
            -0.9999493360519409,
            0.01000203937292099,
            0.001138506457209587
        ],
        "location": [
            2385.432373046875,
            2310.063720703125,
            364.21490478515625
        ],
        "rotation": [
            -0.06524664908647537,
            1.2296115159988403,
            89.4255142211914
        ],
        "velocity": [
            -0.051086392253637314,
            3.4648430347442627,
            0.08530435711145401
        ],
        "speed": 3.465219628665595,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.518117260472821,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.005846977233887,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.298583984375,
                2314.16650390625,
                364.3174133300781
            ],
            "velocity": [
                0.10976690798997879,
                -3.703840970993042,
                -0.08718670904636383
            ],
            "speed_kmh": 13.343373768358205,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.8828125,
                        "z": 365.5050048828125
                    },
                    "rotation": {
                        "roll": 5.3377039677116045e-08,
                        "pitch": -1.411130666732788,
                        "yaw": -90.2624282836914
                    }
                },
                "velocity": {
                    "x": 6.464664220606764e-11,
                    "y": 1.4114168500611868e-08,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4424,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.23967576026916504,
                "transform": {
                    "location": {
                        "x": 2330.927001953125,
                        "y": 2298.15380859375,
                        "z": 364.1672668457031
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": 0.15438275039196014,
                        "yaw": -0.0440063513815403
                    }
                },
                "velocity": {
                    "x": 0.23681186139583588,
                    "y": 0.0018976967548951507,
                    "z": 0.03689190000295639
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4423,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5023444890975952,
                "transform": {
                    "location": {
                        "x": 2440.21044921875,
                        "y": 2295.701904296875,
                        "z": 363.2666320800781
                    },
                    "rotation": {
                        "roll": 0.0003992304264102131,
                        "pitch": 0.7980939149856567,
                        "yaw": -178.71585083007812
                    }
                },
                "velocity": {
                    "x": -1.5015869140625,
                    "y": -0.04526709020137787,
                    "z": 0.01505307201296091
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.0419639348983765,
                "transform": {
                    "location": {
                        "x": 2388.3251953125,
                        "y": 2336.752197265625,
                        "z": 364.8464660644531
                    },
                    "rotation": {
                        "roll": -0.000335735734552145,
                        "pitch": -1.3699582815170288,
                        "yaw": -90.26766204833984
                    }
                },
                "velocity": {
                    "x": -0.004499500617384911,
                    "y": -1.0416640043258667,
                    "z": -0.024588512256741524
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.069866180419922,
                "transform": {
                    "location": {
                        "x": 2416.202392578125,
                        "y": 2295.107421875,
                        "z": 363.5797119140625
                    },
                    "rotation": {
                        "roll": 0.0010417394805699587,
                        "pitch": 0.705906867980957,
                        "yaw": -178.8052520751953
                    }
                },
                "velocity": {
                    "x": -8.067512512207031,
                    "y": -0.16731072962284088,
                    "z": 0.09993688017129898
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.920837938785553,
                "transform": {
                    "location": {
                        "x": 2350.32421875,
                        "y": 2298.234375,
                        "z": 364.15765380859375
                    },
                    "rotation": {
                        "roll": -0.0019226070726290345,
                        "pitch": -0.5085075497627258,
                        "yaw": 0.10466332733631134
                    }
                },
                "velocity": {
                    "x": 0.9208115339279175,
                    "y": -0.0006486641941592097,
                    "z": -0.006944570224732161
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.067375183105469,
                "transform": {
                    "location": {
                        "x": 2396.001708984375,
                        "y": 2293.76220703125,
                        "z": 363.80609130859375
                    },
                    "rotation": {
                        "roll": -0.7042234539985657,
                        "pitch": 0.5665095448493958,
                        "yaw": -163.83554077148438
                    }
                },
                "velocity": {
                    "x": -7.591728210449219,
                    "y": -2.7280831336975098,
                    "z": 0.07590766996145248
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5551462769508362,
                "transform": {
                    "location": {
                        "x": 2388.27978515625,
                        "y": 2325.61328125,
                        "z": 364.5822448730469
                    },
                    "rotation": {
                        "roll": -0.0007629520841874182,
                        "pitch": -1.3509771823883057,
                        "yaw": -90.20369720458984
                    }
                },
                "velocity": {
                    "x": -0.0018083673203364015,
                    "y": -0.554994523525238,
                    "z": -0.012852592393755913
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.035940170288086,
                "transform": {
                    "location": {
                        "x": 2388.157958984375,
                        "y": 2275.6689453125,
                        "z": 363.4364013671875
                    },
                    "rotation": {
                        "roll": -0.0448608435690403,
                        "pitch": -1.2866778373718262,
                        "yaw": -90.27336120605469
                    }
                },
                "velocity": {
                    "x": -0.022994032129645348,
                    "y": -8.033926010131836,
                    "z": -0.17843681573867798
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.7064926624298096,
                "transform": {
                    "location": {
                        "x": 2388.298583984375,
                        "y": 2314.16650390625,
                        "z": 364.3174133300781
                    },
                    "rotation": {
                        "roll": -0.05075070634484291,
                        "pitch": -1.1329916715621948,
                        "yaw": -88.76261138916016
                    }
                },
                "velocity": {
                    "x": 0.10976690798997879,
                    "y": -3.703840970993042,
                    "z": -0.08718670904636383
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.092926025390625,
                "transform": {
                    "location": {
                        "x": 2388.1767578125,
                        "y": 2252.171630859375,
                        "z": 362.9221496582031
                    },
                    "rotation": {
                        "roll": 0.00015077779244165868,
                        "pitch": -1.2059928178787231,
                        "yaw": -89.90677642822266
                    }
                },
                "velocity": {
                    "x": 0.012329314835369587,
                    "y": -8.091139793395996,
                    "z": -0.16958355903625488
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.001131743541918695,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": -1.3094995665596798e-05,
                    "y": -2.03596046048915e-05,
                    "z": -0.0011314846342429519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0747382640838623,
                "transform": {
                    "location": {
                        "x": 2385.570556640625,
                        "y": 2357.36279296875,
                        "z": 365.3620300292969
                    },
                    "rotation": {
                        "roll": 0.005750366020947695,
                        "pitch": 1.300768494606018,
                        "yaw": 89.8768310546875
                    }
                },
                "velocity": {
                    "x": -0.012670282274484634,
                    "y": 2.0740458965301514,
                    "z": 0.05207621306180954
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.535340309143066,
                "transform": {
                    "location": {
                        "x": 2363.885009765625,
                        "y": 2298.225830078125,
                        "z": 364.06781005859375
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -0.20251509547233582,
                        "yaw": -0.0944824144244194
                    }
                },
                "velocity": {
                    "x": 4.535214900970459,
                    "y": -0.005092552397400141,
                    "z": -0.03332003578543663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.972021102905273,
                "transform": {
                    "location": {
                        "x": 2384.42236328125,
                        "y": 2298.23828125,
                        "z": 363.9119567871094
                    },
                    "rotation": {
                        "roll": -0.011474610306322575,
                        "pitch": -0.5058916211128235,
                        "yaw": 0.34123197197914124
                    }
                },
                "velocity": {
                    "x": 7.9715704917907715,
                    "y": 0.05062355101108551,
                    "z": -0.0679897889494896
                },
                "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": 0.11411544680595398,
        "expert_target_speed": 4.627463489450635,
        "target_point": [
            33.63118711084071,
            0.2576036444587251
        ],
        "target_point_next": [
            33.63118711084071,
            0.2576036444587251
        ]
    },
    "230": {
        "acceleration": [
            0.080576092004776,
            -1.757798194885254,
            -0.06110876798629761
        ],
        "angular_velocity": [
            0.04408949986100197,
            0.14516498148441315,
            -1.3211909532546997
        ],
        "forward_vector": [
            0.009675294160842896,
            0.9997546076774597,
            0.01992570422589779
        ],
        "right_vector": [
            -0.9999523162841797,
            0.009699157439172268,
            -0.001101311994716525
        ],
        "location": [
            2385.43798828125,
            2310.84130859375,
            364.23388671875
        ],
        "rotation": [
            0.06311307847499847,
            1.1417343616485596,
            89.44552612304688
        ],
        "velocity": [
            0.041559018194675446,
            2.8480567932128906,
            0.06742507964372635
        ],
        "speed": 2.8483599929361807,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.505234789985583,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 3.830902099609375,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.323486328125,
                2313.3603515625,
                364.2981872558594
            ],
            "velocity": [
                0.09132672846317291,
                -2.8847548961639404,
                -0.06899891793727875
            ],
            "speed_kmh": 10.393289303152956,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.03677453100681305,
                "transform": {
                    "location": {
                        "x": 2388.29931640625,
                        "y": 2351.88525390625,
                        "z": 365.17767333984375
                    },
                    "rotation": {
                        "roll": -0.000335743825417012,
                        "pitch": -1.4268742799758911,
                        "yaw": -90.26219177246094
                    }
                },
                "velocity": {
                    "x": 2.263397072965745e-05,
                    "y": 0.0008287770906463265,
                    "z": -0.03676518425345421
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4424,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4122551679611206,
                "transform": {
                    "location": {
                        "x": 2331.16943359375,
                        "y": 2298.156005859375,
                        "z": 364.16943359375
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": 0.18591773509979248,
                        "yaw": 0.01887991651892662
                    }
                },
                "velocity": {
                    "x": 1.4121592044830322,
                    "y": 0.01641324907541275,
                    "z": 0.0012013721279799938
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4423,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0862579345703125,
                "transform": {
                    "location": {
                        "x": 2439.760009765625,
                        "y": 2295.688232421875,
                        "z": 363.2720947265625
                    },
                    "rotation": {
                        "roll": 0.0012128363596275449,
                        "pitch": 0.7837300300598145,
                        "yaw": -178.6884002685547
                    }
                },
                "velocity": {
                    "x": -2.085118293762207,
                    "y": -0.06373041868209839,
                    "z": 0.02629973366856575
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5795483589172363,
                "transform": {
                    "location": {
                        "x": 2388.32421875,
                        "y": 2336.4228515625,
                        "z": 364.83837890625
                    },
                    "rotation": {
                        "roll": 0.0004015469748992473,
                        "pitch": -1.360956072807312,
                        "yaw": -90.3573989868164
                    }
                },
                "velocity": {
                    "x": -0.007127688266336918,
                    "y": -1.579065203666687,
                    "z": -0.038410138338804245
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.046089172363281,
                "transform": {
                    "location": {
                        "x": 2414.189208984375,
                        "y": 2295.066162109375,
                        "z": 363.6044921875
                    },
                    "rotation": {
                        "roll": 0.0004823547787964344,
                        "pitch": 0.7089872360229492,
                        "yaw": -178.8091583251953
                    }
                },
                "velocity": {
                    "x": -8.043737411499023,
                    "y": -0.1672959327697754,
                    "z": 0.09923545271158218
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0403796434402466,
                "transform": {
                    "location": {
                        "x": 2350.593017578125,
                        "y": 2298.234375,
                        "z": 364.1551818847656
                    },
                    "rotation": {
                        "roll": 6.775480142096058e-05,
                        "pitch": -0.37520959973335266,
                        "yaw": 0.11740667372941971
                    }
                },
                "velocity": {
                    "x": 1.0403623580932617,
                    "y": -0.000744367076549679,
                    "z": -0.005939960479736328
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.9789628982543945,
                "transform": {
                    "location": {
                        "x": 2394.195068359375,
                        "y": 2292.895751953125,
                        "z": 363.82354736328125
                    },
                    "rotation": {
                        "roll": -0.8069761991500854,
                        "pitch": 0.4594736397266388,
                        "yaw": -153.33628845214844
                    }
                },
                "velocity": {
                    "x": -6.826096057891846,
                    "y": -4.130801200866699,
                    "z": 0.06885246187448502
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2919377088546753,
                "transform": {
                    "location": {
                        "x": 2388.2783203125,
                        "y": 2325.381103515625,
                        "z": 364.5766296386719
                    },
                    "rotation": {
                        "roll": -0.00387565023265779,
                        "pitch": -1.3434092998504639,
                        "yaw": -90.11823272705078
                    }
                },
                "velocity": {
                    "x": -0.004100436344742775,
                    "y": -1.2915890216827393,
                    "z": -0.029734330251812935
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.057291984558105,
                "transform": {
                    "location": {
                        "x": 2388.154296875,
                        "y": 2273.657470703125,
                        "z": 363.39178466796875
                    },
                    "rotation": {
                        "roll": -0.019073478877544403,
                        "pitch": -1.2738643884658813,
                        "yaw": -90.0849609375
                    }
                },
                "velocity": {
                    "x": -0.008150985464453697,
                    "y": -8.05531120300293,
                    "z": -0.17848098278045654
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.8870248794555664,
                "transform": {
                    "location": {
                        "x": 2388.323486328125,
                        "y": 2313.3603515625,
                        "z": 364.2981872558594
                    },
                    "rotation": {
                        "roll": -0.04635617136955261,
                        "pitch": -1.4362521171569824,
                        "yaw": -88.5166244506836
                    }
                },
                "velocity": {
                    "x": 0.09132672846317291,
                    "y": -2.8847548961639404,
                    "z": -0.06899891793727875
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.05908203125,
                "transform": {
                    "location": {
                        "x": 2388.179931640625,
                        "y": 2250.153076171875,
                        "z": 362.87982177734375
                    },
                    "rotation": {
                        "roll": -0.0002136498223990202,
                        "pitch": -1.1934456825256348,
                        "yaw": -89.9056625366211
                    }
                },
                "velocity": {
                    "x": 0.013632968068122864,
                    "y": -8.057300567626953,
                    "z": -0.16888926923274994
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.00041549556772224605,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.368896484375,
                        "z": 365.10595703125
                    },
                    "rotation": {
                        "roll": 0.014877436682581902,
                        "pitch": 1.3989319801330566,
                        "yaw": 90.29198455810547
                    }
                },
                "velocity": {
                    "x": 2.3780366973369382e-06,
                    "y": -3.786325396504253e-05,
                    "z": -0.0004137599316891283
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4432053565979004,
                "transform": {
                    "location": {
                        "x": 2385.56787109375,
                        "y": 2357.957763671875,
                        "z": 365.37640380859375
                    },
                    "rotation": {
                        "roll": 0.007868885062634945,
                        "pitch": 1.359603762626648,
                        "yaw": 89.99506378173828
                    }
                },
                "velocity": {
                    "x": -0.01486596092581749,
                    "y": 2.4424233436584473,
                    "z": 0.060002002865076065
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.424147605895996,
                "transform": {
                    "location": {
                        "x": 2365.170654296875,
                        "y": 2298.224365234375,
                        "z": 364.0584716796875
                    },
                    "rotation": {
                        "roll": -0.0022583005484193563,
                        "pitch": -0.27511316537857056,
                        "yaw": -0.035064697265625
                    }
                },
                "velocity": {
                    "x": 5.423995018005371,
                    "y": -0.0032860692590475082,
                    "z": -0.040562860667705536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.09400463104248,
                "transform": {
                    "location": {
                        "x": 2386.432861328125,
                        "y": 2298.254150390625,
                        "z": 363.89471435546875
                    },
                    "rotation": {
                        "roll": -0.02420044131577015,
                        "pitch": -0.4896835684776306,
                        "yaw": 0.4685755968093872
                    }
                },
                "velocity": {
                    "x": 8.093255043029785,
                    "y": 0.08455188572406769,
                    "z": -0.07056277245283127
                },
                "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": 0.1274917721748352,
        "expert_target_speed": 4.014276131906877,
        "target_point": [
            32.85366664028788,
            0.24429770640834542
        ],
        "target_point_next": [
            32.85366664028788,
            0.24429770640834542
        ]
    },
    "235": {
        "acceleration": [
            -0.017287731170654297,
            -0.44384002685546875,
            0.007016360759735107
        ],
        "angular_velocity": [
            0.39373260736465454,
            0.1570121943950653,
            0.30164942145347595
        ],
        "forward_vector": [
            0.01211176160722971,
            0.9996970891952515,
            0.021425632759928703
        ],
        "right_vector": [
            -0.9999264478683472,
            0.012122410349547863,
            -0.0003671850427053869
        ],
        "location": [
            2385.44873046875,
            2311.525146484375,
            364.2499084472656
        ],
        "rotation": [
            0.02104298397898674,
            1.2276922464370728,
            89.30587005615234
        ],
        "velocity": [
            0.04792700335383415,
            2.6656322479248047,
            0.06466341018676758
        ],
        "speed": 2.666063067301133,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.500234266783837,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 3.0972869396209717,
        "front_vehicle_info": {
            "id": 4415,
            "type": "vehicle.dodge.charger_2020",
            "location": [
                2388.347412109375,
                2312.615966796875,
                364.2806091308594
            ],
            "velocity": [
                0.10215301066637039,
                -3.128225088119507,
                -0.07315294444561005
            ],
            "speed_kmh": 11.27069035839473,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5224447250366211,
                "transform": {
                    "location": {
                        "x": 2388.299560546875,
                        "y": 2351.8671875,
                        "z": 365.20751953125
                    },
                    "rotation": {
                        "roll": -0.0040587568655610085,
                        "pitch": -1.36064875125885,
                        "yaw": -90.25740814208984
                    }
                },
                "velocity": {
                    "x": 0.004299144260585308,
                    "y": -0.5148930549621582,
                    "z": 0.08840343356132507
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4424,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9300686120986938,
                "transform": {
                    "location": {
                        "x": 2331.5869140625,
                        "y": 2298.15966796875,
                        "z": 364.1701354980469
                    },
                    "rotation": {
                        "roll": -0.0003356933011673391,
                        "pitch": 0.17331604659557343,
                        "yaw": 0.16098469495773315
                    }
                },
                "velocity": {
                    "x": 1.9299261569976807,
                    "y": 0.023280085995793343,
                    "z": 0.0028539560735225677
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4423,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5776429176330566,
                "transform": {
                    "location": {
                        "x": 2439.17529296875,
                        "y": 2295.670166015625,
                        "z": 363.27978515625
                    },
                    "rotation": {
                        "roll": 0.0014657602878287435,
                        "pitch": 0.7740243077278137,
                        "yaw": -178.71780395507812
                    }
                },
                "velocity": {
                    "x": -2.5762102603912354,
                    "y": -0.07895685732364655,
                    "z": 0.03390786051750183
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1028642654418945,
                "transform": {
                    "location": {
                        "x": 2388.322021484375,
                        "y": 2335.95751953125,
                        "z": 364.82720947265625
                    },
                    "rotation": {
                        "roll": 0.002197221154347062,
                        "pitch": -1.363073468208313,
                        "yaw": -90.33284759521484
                    }
                },
                "velocity": {
                    "x": -0.008931922726333141,
                    "y": -2.10223650932312,
                    "z": -0.050596192479133606
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4421,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.085124015808105,
                "transform": {
                    "location": {
                        "x": 2412.1728515625,
                        "y": 2295.02490234375,
                        "z": 363.6289367675781
                    },
                    "rotation": {
                        "roll": 4.486485704546794e-05,
                        "pitch": 0.7043290734291077,
                        "yaw": -178.80967712402344
                    }
                },
                "velocity": {
                    "x": -8.082793235778809,
                    "y": -0.16797657310962677,
                    "z": 0.09734208881855011
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 4420,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.614169120788574,
                "transform": {
                    "location": {
                        "x": 2351.088134765625,
                        "y": 2298.234130859375,
                        "z": 364.1514892578125
                    },
                    "rotation": {
                        "roll": 0.00013558214413933456,
                        "pitch": -0.289156049489975,
                        "yaw": 0.043304380029439926
                    }
                },
                "velocity": {
                    "x": 2.6141042709350586,
                    "y": -0.007883552461862564,
                    "z": -0.016653919592499733
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 4419,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048789978027344,
                "transform": {
                    "location": {
                        "x": 2392.572998046875,
                        "y": 2291.7294921875,
                        "z": 363.82672119140625
                    },
                    "rotation": {
                        "roll": 0.3022901117801666,
                        "pitch": -0.13189777731895447,
                        "yaw": -143.50584411621094
                    }
                },
                "velocity": {
                    "x": -6.125586032867432,
                    "y": -5.221086502075195,
                    "z": -0.021901754662394524
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.2002546787261963,
                "transform": {
                    "location": {
                        "x": 2388.276611328125,
                        "y": 2324.941162109375,
                        "z": 364.5662536621094
                    },
                    "rotation": {
                        "roll": -0.0032349249813705683,
                        "pitch": -1.3395980596542358,
                        "yaw": -90.12896728515625
                    }
                },
                "velocity": {
                    "x": -0.00979447178542614,
                    "y": -2.1996095180511475,
                    "z": -0.0523717999458313
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4417,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.050793647766113,
                "transform": {
                    "location": {
                        "x": 2388.1533203125,
                        "y": 2271.644287109375,
                        "z": 363.3472900390625
                    },
                    "rotation": {
                        "roll": -0.008026182651519775,
                        "pitch": -1.276487112045288,
                        "yaw": -90.0305404663086
                    }
                },
                "velocity": {
                    "x": 0.0010956593323498964,
                    "y": -8.048847198486328,
                    "z": -0.17701682448387146
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.1307473182678223,
                "transform": {
                    "location": {
                        "x": 2388.347412109375,
                        "y": 2312.615966796875,
                        "z": 364.2806091308594
                    },
                    "rotation": {
                        "roll": -0.04934697598218918,
                        "pitch": -1.347070336341858,
                        "yaw": -88.36566162109375
                    }
                },
                "velocity": {
                    "x": 0.10215301066637039,
                    "y": -3.128225088119507,
                    "z": -0.07315294444561005
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4414,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 8.091780662536621,
                "transform": {
                    "location": {
                        "x": 2388.183349609375,
                        "y": 2248.13427734375,
                        "z": 362.8377990722656
                    },
                    "rotation": {
                        "roll": -6.100469545344822e-05,
                        "pitch": -1.1937872171401978,
                        "yaw": -89.9041748046875
                    }
                },
                "velocity": {
                    "x": 0.014878113754093647,
                    "y": -8.089988708496094,
                    "z": -0.16967378556728363
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.2892427146434784,
                "transform": {
                    "location": {
                        "x": 2385.478271484375,
                        "y": 2347.390625,
                        "z": 365.10638427734375
                    },
                    "rotation": {
                        "roll": 0.01380915381014347,
                        "pitch": 1.407654047012329,
                        "yaw": 90.28532409667969
                    }
                },
                "velocity": {
                    "x": -0.0009099878370761871,
                    "y": 0.28914374113082886,
                    "z": 0.007510394789278507
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.197511076927185,
                "transform": {
                    "location": {
                        "x": 2385.5654296875,
                        "y": 2358.46630859375,
                        "z": 365.3879699707031
                    },
                    "rotation": {
                        "roll": 0.00814802572131157,
                        "pitch": 1.49094820022583,
                        "yaw": 90.06660461425781
                    }
                },
                "velocity": {
                    "x": -0.006985565647482872,
                    "y": 1.197122573852539,
                    "z": 0.029693717136979103
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4411,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.312869548797607,
                "transform": {
                    "location": {
                        "x": 2366.573974609375,
                        "y": 2298.224365234375,
                        "z": 364.0477294921875
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": -0.2978167235851288,
                        "yaw": -0.02117919735610485
                    }
                },
                "velocity": {
                    "x": 6.312689781188965,
                    "y": -0.0024823795538395643,
                    "z": -0.047555431723594666
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4410,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.033285140991211,
                "transform": {
                    "location": {
                        "x": 2388.4501953125,
                        "y": 2298.2783203125,
                        "z": 363.8768615722656
                    },
                    "rotation": {
                        "roll": -0.017791742458939552,
                        "pitch": -0.5245653390884399,
                        "yaw": 0.6985267400741577
                    }
                },
                "velocity": {
                    "x": 8.03227424621582,
                    "y": 0.10524072498083115,
                    "z": -0.07183493673801422
                },
                "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": 0.12469389289617538,
        "expert_target_speed": 3.832459606019888,
        "target_point": [
            32.169056854387875,
            0.32672084686748987
        ],
        "target_point_next": [
            32.169056854387875,
            0.32672084686748987
        ]
    },
    "240": {
        "acceleration": [
            0.04124991595745087,
            -0.0717926025390625,
            -0.022465884685516357
        ],
        "angular_velocity": [
            0.24894872307777405,
            0.020503999665379524,
            -1.2675317525863647
        ],
        "forward_vector": [
            0.013874487020075321,
            0.9996436834335327,
            0.022800972685217857
        ],
        "right_vector": [
            -0.999903678894043,
            0.013877548277378082,
            2.3959202735568397e-05
        ],
        "location": [
            2385.459228515625,
            2312.182373046875,
            364.2652587890625
        ],
        "rotation": [
            -0.001373118138872087,
            1.306512713432312,
            89.20481872558594
        ],
        "velocity": [
            0.04763370379805565,
            2.6050407886505127,
            0.062108345329761505
        ],
        "speed": 2.6054762482644906,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 35.38290023803711,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.47802734375,
                2347.55517578125,
                365.11029052734375
            ],
            "velocity": [
                -0.0006720403325743973,
                0.9892739057540894,
                0.025068148970603943
            ],
            "speed_kmh": 3.5625301047720503,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2388.26171875,
                        "y": 2343.68310546875,
                        "z": 365.30419921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.3944718837738037,
                        "yaw": -90.2624282836914
                    }
                },
                "velocity": {
                    "x": 1.0726388527393382e-10,
                    "y": 2.341887217482963e-08,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.7543679475784302,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.52685546875,
                        "z": 365.2117004394531
                    },
                    "rotation": {
                        "roll": -0.007812567055225372,
                        "pitch": -1.1997909545898438,
                        "yaw": -90.09087371826172
                    }
                },
                "velocity": {
                    "x": 0.005013709422200918,
                    "y": -1.7542115449905396,
                    "z": -0.022886618971824646
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.37572064995765686,
                "transform": {
                    "location": {
                        "x": 2388.32080078125,
                        "y": 2335.66259765625,
                        "z": 364.82080078125
                    },
                    "rotation": {
                        "roll": 0.0010060068452730775,
                        "pitch": -1.433861494064331,
                        "yaw": -90.31519317626953
                    }
                },
                "velocity": {
                    "x": -0.001442521926946938,
                    "y": -0.3756178915500641,
                    "z": -0.008667916990816593
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.989840507507324,
                "transform": {
                    "location": {
                        "x": 2388.27392578125,
                        "y": 2324.28955078125,
                        "z": 364.55078125
                    },
                    "rotation": {
                        "roll": -0.0016480193007737398,
                        "pitch": -1.338532567024231,
                        "yaw": -90.17021942138672
                    }
                },
                "velocity": {
                    "x": -0.013519177213311195,
                    "y": -2.988978862762451,
                    "z": -0.07048705220222473
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.6845884323120117,
                "transform": {
                    "location": {
                        "x": 2388.37109375,
                        "y": 2311.902099609375,
                        "z": 364.26361083984375
                    },
                    "rotation": {
                        "roll": -0.055694594979286194,
                        "pitch": -1.4297839403152466,
                        "yaw": -88.24676513671875
                    }
                },
                "velocity": {
                    "x": 0.09024340659379959,
                    "y": -2.6822938919067383,
                    "z": -0.06457963585853577
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.9895917177200317,
                "transform": {
                    "location": {
                        "x": 2385.47802734375,
                        "y": 2347.55517578125,
                        "z": 365.11029052734375
                    },
                    "rotation": {
                        "roll": 0.012402988970279694,
                        "pitch": 1.417366623878479,
                        "yaw": 90.25110626220703
                    }
                },
                "velocity": {
                    "x": -0.0006720403325743973,
                    "y": 0.9892739057540894,
                    "z": 0.025068148970603943
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3918014168739319,
                "transform": {
                    "location": {
                        "x": 2385.565185546875,
                        "y": 2358.524658203125,
                        "z": 365.389404296875
                    },
                    "rotation": {
                        "roll": 0.007054982241243124,
                        "pitch": 1.4900330305099487,
                        "yaw": 90.06055450439453
                    }
                },
                "velocity": {
                    "x": 0.0006804252043366432,
                    "y": 0.3916706144809723,
                    "z": 0.010099878534674644
                },
                "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": 0.12555308640003204,
        "expert_target_speed": 3.7727779706419122,
        "target_point": [
            31.511117539019487,
            0.38516780301444803
        ],
        "target_point_next": [
            31.511117539019487,
            0.38516780301444803
        ]
    },
    "245": {
        "acceleration": [
            0.04089824855327606,
            0.8767938613891602,
            0.032580941915512085
        ],
        "angular_velocity": [
            0.347249299287796,
            -0.06464587897062302,
            0.30425822734832764
        ],
        "forward_vector": [
            0.01575469970703125,
            0.9995872974395752,
            0.024024557322263718
        ],
        "right_vector": [
            -0.9998758435249329,
            0.015758007764816284,
            5.165114998817444e-05
        ],
        "location": [
            2385.471923828125,
            2312.8427734375,
            364.2806701660156
        ],
        "rotation": [
            -0.0029602472204715014,
            1.3766381740570068,
            89.0970230102539
        ],
        "velocity": [
            0.05555368959903717,
            2.710960626602173,
            0.06474559754133224
        ],
        "speed": 2.7115297769737494,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 35.06372833251953,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.4775390625,
                2347.896484375,
                365.11865234375
            ],
            "velocity": [
                -0.0010632071644067764,
                1.7580071687698364,
                0.04306813329458237
            ],
            "speed_kmh": 6.3307258502872905,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.10504482686519623,
                "transform": {
                    "location": {
                        "x": 2388.26171875,
                        "y": 2343.6865234375,
                        "z": 364.95947265625
                    },
                    "rotation": {
                        "roll": -0.000244250608375296,
                        "pitch": -1.385005235671997,
                        "yaw": -90.2625732421875
                    }
                },
                "velocity": {
                    "x": -7.924660167191178e-05,
                    "y": 0.0024929658975452185,
                    "z": -0.10501521080732346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004205610603094101,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.468017578125,
                        "z": 365.2123107910156
                    },
                    "rotation": {
                        "roll": 0.002520068781450391,
                        "pitch": -1.5784907341003418,
                        "yaw": -90.15059661865234
                    }
                },
                "velocity": {
                    "x": -0.00034887754009105265,
                    "y": 0.002216679509729147,
                    "z": 0.0035569339524954557
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.083070993423462,
                "transform": {
                    "location": {
                        "x": 2388.319091796875,
                        "y": 2335.47119140625,
                        "z": 364.81573486328125
                    },
                    "rotation": {
                        "roll": -0.0011902363039553165,
                        "pitch": -1.3749648332595825,
                        "yaw": -90.23168182373047
                    }
                },
                "velocity": {
                    "x": -0.004400551784783602,
                    "y": -1.0827299356460571,
                    "z": -0.026823077350854874
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.770566463470459,
                "transform": {
                    "location": {
                        "x": 2388.2705078125,
                        "y": 2323.4423828125,
                        "z": 364.5307312011719
                    },
                    "rotation": {
                        "roll": -0.002075128024443984,
                        "pitch": -1.3368523120880127,
                        "yaw": -90.20596313476562
                    }
                },
                "velocity": {
                    "x": -0.017334623262286186,
                    "y": -3.76946759223938,
                    "z": -0.08935725688934326
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.3533096313476562,
                "transform": {
                    "location": {
                        "x": 2388.42138671875,
                        "y": 2311.17236328125,
                        "z": 364.24627685546875
                    },
                    "rotation": {
                        "roll": -0.2359008491039276,
                        "pitch": -1.297298789024353,
                        "yaw": -87.18651580810547
                    }
                },
                "velocity": {
                    "x": 0.3815567195415497,
                    "y": -3.3305892944335938,
                    "z": -0.07921513170003891
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7585350275039673,
                "transform": {
                    "location": {
                        "x": 2385.4775390625,
                        "y": 2347.896484375,
                        "z": 365.11865234375
                    },
                    "rotation": {
                        "roll": 0.010029368102550507,
                        "pitch": 1.4193406105041504,
                        "yaw": 90.20858001708984
                    }
                },
                "velocity": {
                    "x": -0.0010632071644067764,
                    "y": 1.7580071687698364,
                    "z": 0.04306813329458237
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.276763916015625,
                "transform": {
                    "location": {
                        "x": 2385.564208984375,
                        "y": 2358.74365234375,
                        "z": 365.3959655761719
                    },
                    "rotation": {
                        "roll": 0.0113814203068614,
                        "pitch": 1.3545016050338745,
                        "yaw": 90.07383728027344
                    }
                },
                "velocity": {
                    "x": -0.008734242990612984,
                    "y": 1.2763423919677734,
                    "z": 0.03162075951695442
                },
                "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": 0.13163544237613678,
        "expert_target_speed": 3.8786405764279417,
        "target_point": [
            30.849822070236225,
            0.44649540284118294
        ],
        "target_point_next": [
            30.849822070236225,
            0.44649540284118294
        ]
    },
    "250": {
        "acceleration": [
            0.0585801899433136,
            1.6188621520996094,
            0.059169381856918335
        ],
        "angular_velocity": [
            0.36962011456489563,
            -0.01315294299274683,
            -1.1319706439971924
        ],
        "forward_vector": [
            0.017859002575278282,
            0.9995102882385254,
            0.025695592164993286
        ],
        "right_vector": [
            -0.999840497970581,
            0.01786107011139393,
            0.00014908984303474426
        ],
        "location": [
            2385.486572265625,
            2313.562744140625,
            364.2973327636719
        ],
        "rotation": [
            -0.008545040152966976,
            1.4724111557006836,
            88.97636413574219
        ],
        "velocity": [
            0.06660185009241104,
            3.0544891357421875,
            0.07358402013778687
        ],
        "speed": 3.055215162112611,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 34.843963623046875,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.47705078125,
                2348.396728515625,
                365.13104248046875
            ],
            "velocity": [
                -0.0015566779766231775,
                1.8952085971832275,
                0.04655201733112335
            ],
            "speed_kmh": 6.824811163658577,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.17717653512954712,
                "transform": {
                    "location": {
                        "x": 2388.26171875,
                        "y": 2343.68505859375,
                        "z": 365.005615234375
                    },
                    "rotation": {
                        "roll": -0.00027467546169646084,
                        "pitch": -1.387423038482666,
                        "yaw": -90.2625732421875
                    }
                },
                "velocity": {
                    "x": 0.00010869452671613544,
                    "y": -0.004357448313385248,
                    "z": 0.17712290585041046
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0019849231466650963,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.46728515625,
                        "z": 365.2125549316406
                    },
                    "rotation": {
                        "roll": -0.0018310855375602841,
                        "pitch": -1.4605743885040283,
                        "yaw": -90.1506576538086
                    }
                },
                "velocity": {
                    "x": -0.0001228920737048611,
                    "y": 0.0006690835580229759,
                    "z": 0.0018647103570401669
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.680246114730835,
                "transform": {
                    "location": {
                        "x": 2388.318115234375,
                        "y": 2335.1240234375,
                        "z": 364.8072509765625
                    },
                    "rotation": {
                        "roll": -0.0007019455078989267,
                        "pitch": -1.3574248552322388,
                        "yaw": -90.24044799804688
                    }
                },
                "velocity": {
                    "x": -0.00689195841550827,
                    "y": -1.6797502040863037,
                    "z": -0.04023539274930954
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.534266471862793,
                "transform": {
                    "location": {
                        "x": 2388.265869140625,
                        "y": 2322.3994140625,
                        "z": 364.50604248046875
                    },
                    "rotation": {
                        "roll": -0.0006713022594340146,
                        "pitch": -1.3373372554779053,
                        "yaw": -90.23406982421875
                    }
                },
                "velocity": {
                    "x": -0.021295670419931412,
                    "y": -4.5329270362854,
                    "z": -0.10811340808868408
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.840442180633545,
                "transform": {
                    "location": {
                        "x": 2388.55224609375,
                        "y": 2310.145263671875,
                        "z": 364.2218322753906
                    },
                    "rotation": {
                        "roll": -0.2692870795726776,
                        "pitch": -1.1292146444320679,
                        "yaw": -84.71947479248047
                    }
                },
                "velocity": {
                    "x": 0.6505926251411438,
                    "y": -4.795141696929932,
                    "z": -0.11499711871147156
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.8957809209823608,
                "transform": {
                    "location": {
                        "x": 2385.47705078125,
                        "y": 2348.396728515625,
                        "z": 365.13104248046875
                    },
                    "rotation": {
                        "roll": 0.009849670343101025,
                        "pitch": 1.4123122692108154,
                        "yaw": 90.1665267944336
                    }
                },
                "velocity": {
                    "x": -0.0015566779766231775,
                    "y": 1.8952085971832275,
                    "z": 0.04655201733112335
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0491855144500732,
                "transform": {
                    "location": {
                        "x": 2385.56201171875,
                        "y": 2359.162353515625,
                        "z": 365.4065246582031
                    },
                    "rotation": {
                        "roll": 0.010345915332436562,
                        "pitch": 1.3379862308502197,
                        "yaw": 90.1129150390625
                    }
                },
                "velocity": {
                    "x": -0.012442413717508316,
                    "y": 2.048496723175049,
                    "z": 0.05165249854326248
                },
                "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": 0.14487220346927643,
        "expert_target_speed": 4.219761197510175,
        "target_point": [
            30.128694395312092,
            0.5133311666758501
        ],
        "target_point_next": [
            30.128694395312092,
            0.5133311666758501
        ]
    },
    "255": {
        "acceleration": [
            0.07799550890922546,
            1.9818925857543945,
            0.04545748233795166
        ],
        "angular_velocity": [
            0.2386687844991684,
            0.04611395299434662,
            -0.020015548914670944
        ],
        "forward_vector": [
            0.019905051216483116,
            0.9994370937347412,
            0.02700679749250412
        ],
        "right_vector": [
            -0.9998018741607666,
            0.019907135516405106,
            0.00019167829304933548
        ],
        "location": [
            2385.505126953125,
            2314.38623046875,
            364.3165283203125
        ],
        "rotation": [
            -0.01098636444658041,
            1.5475636720657349,
            88.8590316772461
        ],
        "velocity": [
            0.08411330729722977,
            3.5208184719085693,
            0.08255621045827866
        ],
        "speed": 3.5218230734375444,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 34.47401428222656,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.476806640625,
                2348.850341796875,
                365.1422119140625
            ],
            "velocity": [
                -0.001647058641538024,
                1.996462106704712,
                0.049631211906671524
            ],
            "speed_kmh": 7.18948654627219,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0179954431951046,
                "transform": {
                    "location": {
                        "x": 2388.26171875,
                        "y": 2343.68505859375,
                        "z": 365.02532958984375
                    },
                    "rotation": {
                        "roll": -0.00027472886722534895,
                        "pitch": -1.3876621723175049,
                        "yaw": -90.26258850097656
                    }
                },
                "velocity": {
                    "x": -8.51653385325335e-05,
                    "y": -0.00048988894559443,
                    "z": 0.017988571897149086
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0011214849073439837,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.467041015625,
                        "z": 365.2126159667969
                    },
                    "rotation": {
                        "roll": -0.00268564117141068,
                        "pitch": -1.4359447956085205,
                        "yaw": -90.1507568359375
                    }
                },
                "velocity": {
                    "x": -0.00019553037418518215,
                    "y": 0.0001830974215408787,
                    "z": 0.0010890233097597957
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.2295689582824707,
                "transform": {
                    "location": {
                        "x": 2388.316162109375,
                        "y": 2334.636474609375,
                        "z": 364.7955322265625
                    },
                    "rotation": {
                        "roll": -0.00012217731273267418,
                        "pitch": -1.358087420463562,
                        "yaw": -90.2545166015625
                    }
                },
                "velocity": {
                    "x": -0.00981756392866373,
                    "y": -2.228914737701416,
                    "z": -0.05310772359371185
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.27340030670166,
                "transform": {
                    "location": {
                        "x": 2388.260986328125,
                        "y": 2321.2861328125,
                        "z": 364.47991943359375
                    },
                    "rotation": {
                        "roll": -0.0010375190759077668,
                        "pitch": -1.3567759990692139,
                        "yaw": -90.25161743164062
                    }
                },
                "velocity": {
                    "x": -0.019990207627415657,
                    "y": -4.2721476554870605,
                    "z": -0.10151837021112442
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.794697284698486,
                "transform": {
                    "location": {
                        "x": 2388.749267578125,
                        "y": 2308.8173828125,
                        "z": 364.1897888183594
                    },
                    "rotation": {
                        "roll": -0.3753661811351776,
                        "pitch": -1.1905497312545776,
                        "yaw": -82.3980712890625
                    }
                },
                "velocity": {
                    "x": 1.0296951532363892,
                    "y": -5.700901508331299,
                    "z": -0.13404656946659088
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.997079610824585,
                "transform": {
                    "location": {
                        "x": 2385.476806640625,
                        "y": 2348.850341796875,
                        "z": 365.1422119140625
                    },
                    "rotation": {
                        "roll": 0.009726662188768387,
                        "pitch": 1.4059875011444092,
                        "yaw": 90.13862609863281
                    }
                },
                "velocity": {
                    "x": -0.001647058641538024,
                    "y": 1.996462106704712,
                    "z": 0.049631211906671524
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0803184509277344,
                "transform": {
                    "location": {
                        "x": 2385.5595703125,
                        "y": 2359.6865234375,
                        "z": 365.41900634765625
                    },
                    "rotation": {
                        "roll": 0.011074370704591274,
                        "pitch": 1.4047034978866577,
                        "yaw": 90.16522216796875
                    }
                },
                "velocity": {
                    "x": -0.013080030679702759,
                    "y": 2.079601764678955,
                    "z": 0.05301281809806824
                },
                "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": 0.16155196726322174,
        "expert_target_speed": 4.681935448242574,
        "target_point": [
            29.303891081691447,
            0.5769946512162885
        ],
        "target_point_next": [
            29.303891081691447,
            0.5769946512162885
        ]
    },
    "260": {
        "acceleration": [
            0.05113974213600159,
            1.8178653717041016,
            0.04050165414810181
        ],
        "angular_velocity": [
            0.04228179529309273,
            0.049365025013685226,
            -0.6675377488136292
        ],
        "forward_vector": [
            0.021915508434176445,
            0.9993776082992554,
            0.027643494307994843
        ],
        "right_vector": [
            -0.9997597336769104,
            0.02191542088985443,
            0.00030614715069532394
        ],
        "location": [
            2385.527587890625,
            2315.331298828125,
            364.3387145996094
        ],
        "rotation": [
            -0.017547644674777985,
            1.584057331085205,
            88.7437515258789
        ],
        "velocity": [
            0.09790132194757462,
            4.006075382232666,
            0.09445546567440033
        ],
        "speed": 4.0072714703361045,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 34.03594207763672,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.4765625,
                2349.357421875,
                365.1546936035156
            ],
            "velocity": [
                -0.0012099012965336442,
                1.4898954629898071,
                0.036358099430799484
            ],
            "speed_kmh": 5.3652222490753365,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0013060133205726743,
                "transform": {
                    "location": {
                        "x": 2388.26171875,
                        "y": 2343.68505859375,
                        "z": 365.0257873535156
                    },
                    "rotation": {
                        "roll": -0.00030520674772560596,
                        "pitch": -1.3871089220046997,
                        "yaw": -90.26268768310547
                    }
                },
                "velocity": {
                    "x": 1.4859640032227617e-05,
                    "y": -2.4696439140825532e-05,
                    "z": -0.001305695273913443
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0008878087974153459,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.467041015625,
                        "z": 365.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0035704178735613823,
                        "pitch": -1.4292306900024414,
                        "yaw": -90.15082550048828
                    }
                },
                "velocity": {
                    "x": -8.582290320191532e-05,
                    "y": -1.3521313348974218e-06,
                    "z": 0.0008836498600430787
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.814441204071045,
                "transform": {
                    "location": {
                        "x": 2388.313232421875,
                        "y": 2334.00341796875,
                        "z": 364.7803039550781
                    },
                    "rotation": {
                        "roll": -0.0007630604086443782,
                        "pitch": -1.3561066389083862,
                        "yaw": -90.25053405761719
                    }
                },
                "velocity": {
                    "x": -0.01166481152176857,
                    "y": -2.813605308532715,
                    "z": -0.06758785992860794
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.0327839851379395,
                "transform": {
                    "location": {
                        "x": 2388.256103515625,
                        "y": 2320.253662109375,
                        "z": 364.45550537109375
                    },
                    "rotation": {
                        "roll": -9.153973223874345e-05,
                        "pitch": -1.362240195274353,
                        "yaw": -90.2571029663086
                    }
                },
                "velocity": {
                    "x": -0.018164198845624924,
                    "y": -4.031610488891602,
                    "z": -0.09557134658098221
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 6.342418670654297,
                "transform": {
                    "location": {
                        "x": 2389.085693359375,
                        "y": 2307.32470703125,
                        "z": 364.1521301269531
                    },
                    "rotation": {
                        "roll": -0.50946044921875,
                        "pitch": -1.3292230367660522,
                        "yaw": -77.9565658569336
                    }
                },
                "velocity": {
                    "x": 1.6948180198669434,
                    "y": -6.109838008880615,
                    "z": -0.15408539772033691
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.4903395175933838,
                "transform": {
                    "location": {
                        "x": 2385.4765625,
                        "y": 2349.357421875,
                        "z": 365.1546936035156
                    },
                    "rotation": {
                        "roll": 0.009758569300174713,
                        "pitch": 1.4028183221817017,
                        "yaw": 90.11270904541016
                    }
                },
                "velocity": {
                    "x": -0.0012099012965336442,
                    "y": 1.4898954629898071,
                    "z": 0.036358099430799484
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.709064483642578,
                "transform": {
                    "location": {
                        "x": 2385.55615234375,
                        "y": 2360.275634765625,
                        "z": 365.43402099609375
                    },
                    "rotation": {
                        "roll": 0.012786038219928741,
                        "pitch": 1.3709213733673096,
                        "yaw": 90.2126693725586
                    }
                },
                "velocity": {
                    "x": -0.0166311077773571,
                    "y": 2.708183765411377,
                    "z": 0.0670427531003952
                },
                "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": 0.18892966210842133,
        "expert_target_speed": 5.160265771782158,
        "target_point": [
            28.35733386750126,
            0.6378391690089872
        ],
        "target_point_next": [
            28.35733386750126,
            0.6378391690089872
        ]
    },
    "265": {
        "acceleration": [
            0.03577098250389099,
            1.7179393768310547,
            0.06807178258895874
        ],
        "angular_velocity": [
            -0.007595727685838938,
            0.014566976577043533,
            -0.11088380962610245
        ],
        "forward_vector": [
            0.02315264567732811,
            0.9993520975112915,
            0.027556506916880608
        ],
        "right_vector": [
            -0.9997318983078003,
            0.023150654509663582,
            0.0003913342661689967
        ],
        "location": [
            2385.552978515625,
            2316.3876953125,
            364.36370849609375
        ],
        "rotation": [
            -0.02243031933903694,
            1.5790714025497437,
            88.6728286743164
        ],
        "velocity": [
            0.10792843252420425,
            4.430503845214844,
            0.10501619428396225
        ],
        "speed": 4.431818235105164,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 33.04988479614258,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.4765625,
                2349.427978515625,
                365.15655517578125
            ],
            "velocity": [
                -0.00025892374105751514,
                0.39343228936195374,
                0.00941494945436716
            ],
            "speed_kmh": 1.4167620347715661,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0021413867361843586,
                "transform": {
                    "location": {
                        "x": 2388.26171875,
                        "y": 2343.68505859375,
                        "z": 365.0252685546875
                    },
                    "rotation": {
                        "roll": -0.00018313477630726993,
                        "pitch": -1.3874504566192627,
                        "yaw": -90.26271057128906
                    }
                },
                "velocity": {
                    "x": -4.083432941115461e-05,
                    "y": -2.2531299691763707e-05,
                    "z": -0.002140878699719906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015781044494360685,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.467041015625,
                        "z": 365.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0032959457021206617,
                        "pitch": -1.4255013465881348,
                        "yaw": -90.15093994140625
                    }
                },
                "velocity": {
                    "x": 1.027607959258603e-05,
                    "y": -2.4103372197714634e-05,
                    "z": 0.001577886869199574
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.480578660964966,
                "transform": {
                    "location": {
                        "x": 2388.31005859375,
                        "y": 2333.21630859375,
                        "z": 364.7613830566406
                    },
                    "rotation": {
                        "roll": -0.0002747246762737632,
                        "pitch": -1.3510727882385254,
                        "yaw": -90.2459716796875
                    }
                },
                "velocity": {
                    "x": -0.014764083549380302,
                    "y": -3.4795451164245605,
                    "z": -0.08352543413639069
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.8723392486572266,
                "transform": {
                    "location": {
                        "x": 2388.25146484375,
                        "y": 2319.265380859375,
                        "z": 364.43212890625
                    },
                    "rotation": {
                        "roll": -0.0001220706762978807,
                        "pitch": -1.3602594137191772,
                        "yaw": -90.25914001464844
                    }
                },
                "velocity": {
                    "x": -0.017454072833061218,
                    "y": -3.871213674545288,
                    "z": -0.0917108878493309
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.51330280303955,
                "transform": {
                    "location": {
                        "x": 2389.728759765625,
                        "y": 2305.509521484375,
                        "z": 364.1042175292969
                    },
                    "rotation": {
                        "roll": -0.830078125,
                        "pitch": -1.1970247030258179,
                        "yaw": -70.55874633789062
                    }
                },
                "velocity": {
                    "x": 3.3693788051605225,
                    "y": -7.815343856811523,
                    "z": -0.20978182554244995
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.393545001745224,
                "transform": {
                    "location": {
                        "x": 2385.4765625,
                        "y": 2349.427978515625,
                        "z": 365.15655517578125
                    },
                    "rotation": {
                        "roll": 0.010918432846665382,
                        "pitch": 1.3881129026412964,
                        "yaw": 90.11284637451172
                    }
                },
                "velocity": {
                    "x": -0.00025892374105751514,
                    "y": 0.39343228936195374,
                    "z": 0.00941494945436716
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.7201452255249023,
                "transform": {
                    "location": {
                        "x": 2385.5517578125,
                        "y": 2361.079345703125,
                        "z": 365.4543762207031
                    },
                    "rotation": {
                        "roll": 0.012961274944245815,
                        "pitch": 1.331360936164856,
                        "yaw": 90.25820922851562
                    }
                },
                "velocity": {
                    "x": -0.0230414941906929,
                    "y": 3.7189342975616455,
                    "z": 0.09207088500261307
                },
                "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": 0.20669130980968475,
        "expert_target_speed": 5.5729554754589685,
        "target_point": [
            27.299825255012724,
            0.6736970434868031
        ],
        "target_point_next": [
            27.299825255012724,
            0.6736970434868031
        ]
    },
    "270": {
        "acceleration": [
            0.04164606332778931,
            1.6297054290771484,
            0.03658294677734375
        ],
        "angular_velocity": [
            -0.03674996271729469,
            -0.039568718522787094,
            -0.09170974045991898
        ],
        "forward_vector": [
            0.023627905175089836,
            0.9993427991867065,
            0.027490248903632164
        ],
        "right_vector": [
            -0.9997208118438721,
            0.023624582216143608,
            0.00044564338168129325
        ],
        "location": [
            2385.5810546875,
            2317.55078125,
            364.3912353515625
        ],
        "rotation": [
            -0.02554314024746418,
            1.5752737522125244,
            88.64558410644531
        ],
        "velocity": [
            0.11703125387430191,
            4.851025104522705,
            0.11437120288610458
        ],
        "speed": 4.852436591970359,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 32.08509063720703,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.4765625,
                2349.62646484375,
                365.1611633300781
            ],
            "velocity": [
                2.8957101676496677e-05,
                1.0918782949447632,
                0.02668219432234764
            ],
            "speed_kmh": 3.9319353454625787,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000450171617558226,
                "transform": {
                    "location": {
                        "x": 2388.26171875,
                        "y": 2343.68505859375,
                        "z": 365.0251770019531
                    },
                    "rotation": {
                        "roll": -0.0004577568906825036,
                        "pitch": -1.3876621723175049,
                        "yaw": -90.26275634765625
                    }
                },
                "velocity": {
                    "x": -3.154930891469121e-05,
                    "y": -5.677655281033367e-05,
                    "z": -0.0004454610461834818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012652663281187415,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.467041015625,
                        "z": 365.2126159667969
                    },
                    "rotation": {
                        "roll": -0.004119931720197201,
                        "pitch": -1.425112009048462,
                        "yaw": -90.15093994140625
                    }
                },
                "velocity": {
                    "x": 2.9598906621686183e-05,
                    "y": -0.00012479930592235178,
                    "z": 0.001258748583495617
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.336531162261963,
                "transform": {
                    "location": {
                        "x": 2388.305908203125,
                        "y": 2332.239990234375,
                        "z": 364.7379455566406
                    },
                    "rotation": {
                        "roll": -0.0004576419305521995,
                        "pitch": -1.344536304473877,
                        "yaw": -90.2431640625
                    }
                },
                "velocity": {
                    "x": -0.01827685721218586,
                    "y": -4.335264205932617,
                    "z": -0.1032106876373291
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.6826791763305664,
                "transform": {
                    "location": {
                        "x": 2388.24755859375,
                        "y": 2318.322509765625,
                        "z": 364.4097900390625
                    },
                    "rotation": {
                        "roll": -0.00039674300933256745,
                        "pitch": -1.3602594137191772,
                        "yaw": -90.25920104980469
                    }
                },
                "velocity": {
                    "x": -0.016683358699083328,
                    "y": -3.6816093921661377,
                    "z": -0.08717973530292511
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.091418266296387,
                "transform": {
                    "location": {
                        "x": 2390.66943359375,
                        "y": 2303.672119140625,
                        "z": 364.0193786621094
                    },
                    "rotation": {
                        "roll": -0.8358155488967896,
                        "pitch": -2.882298707962036,
                        "yaw": -61.89593505859375
                    }
                },
                "velocity": {
                    "x": 4.127364158630371,
                    "y": -6.940126419067383,
                    "z": -0.5201443433761597
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.092204213142395,
                "transform": {
                    "location": {
                        "x": 2385.4765625,
                        "y": 2349.62646484375,
                        "z": 365.1611633300781
                    },
                    "rotation": {
                        "roll": 0.009870311245322227,
                        "pitch": 1.4212461709976196,
                        "yaw": 90.0958480834961
                    }
                },
                "velocity": {
                    "x": 2.8957101676496677e-05,
                    "y": 1.0918782949447632,
                    "z": 0.02668219432234764
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.974069356918335,
                "transform": {
                    "location": {
                        "x": 2385.546630859375,
                        "y": 2362.08154296875,
                        "z": 365.47894287109375
                    },
                    "rotation": {
                        "roll": 0.008480449207127094,
                        "pitch": 1.3849232196807861,
                        "yaw": 90.26923370361328
                    }
                },
                "velocity": {
                    "x": 0.000980509677901864,
                    "y": 3.972834348678589,
                    "z": 0.09906261414289474
                },
                "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": 0.23568730056285858,
        "expert_target_speed": 5.9856065886622485,
        "target_point": [
            26.13607498097877,
            0.6873415092433555
        ],
        "target_point_next": [
            26.13607498097877,
            0.6873415092433555
        ]
    },
    "275": {
        "acceleration": [
            -0.08855313062667847,
            -0.5934524536132812,
            -0.01845821738243103
        ],
        "angular_velocity": [
            -0.8846459984779358,
            0.06091035529971123,
            -1.0341051816940308
        ],
        "forward_vector": [
            0.022580357268452644,
            0.9993979334831238,
            0.026339223608374596
        ],
        "right_vector": [
            -0.9997449517250061,
            0.02256845310330391,
            0.0007491520955227315
        ],
        "location": [
            2385.60888671875,
            2318.79931640625,
            364.4212951660156
        ],
        "rotation": [
            -0.04293815419077873,
            1.509300947189331,
            88.70568084716797
        ],
        "velocity": [
            0.1006319671869278,
            4.97511100769043,
            0.11878468841314316
        ],
        "speed": 4.976128649026509,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 31.217525482177734,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.476318359375,
                2350.007568359375,
                365.17047119140625
            ],
            "velocity": [
                -0.0018350895261391997,
                1.9180474281311035,
                0.04738420248031616
            ],
            "speed_kmh": 6.907080655761269,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.596621036529541,
                "transform": {
                    "location": {
                        "x": 2388.2626953125,
                        "y": 2343.484375,
                        "z": 365.0213317871094
                    },
                    "rotation": {
                        "roll": 0.0002222722687292844,
                        "pitch": -1.515010952949524,
                        "yaw": -90.1585464477539
                    }
                },
                "velocity": {
                    "x": 0.01590697281062603,
                    "y": -1.5960549116134644,
                    "z": -0.03942601755261421
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0015234217280521989,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.467041015625,
                        "z": 365.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0036620604805648327,
                        "pitch": -1.4250779151916504,
                        "yaw": -90.1510009765625
                    }
                },
                "velocity": {
                    "x": -6.274191832744691e-07,
                    "y": -9.546399087412283e-05,
                    "z": 0.0015204275259748101
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.291105270385742,
                "transform": {
                    "location": {
                        "x": 2388.30078125,
                        "y": 2331.026123046875,
                        "z": 364.7091064453125
                    },
                    "rotation": {
                        "roll": -0.001342765404842794,
                        "pitch": -1.3387717008590698,
                        "yaw": -90.239501953125
                    }
                },
                "velocity": {
                    "x": -0.02247985079884529,
                    "y": -5.289588928222656,
                    "z": -0.12464641034603119
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.524387836456299,
                "transform": {
                    "location": {
                        "x": 2388.24365234375,
                        "y": 2317.4228515625,
                        "z": 364.3885498046875
                    },
                    "rotation": {
                        "roll": 0.0002524145820643753,
                        "pitch": -1.3601638078689575,
                        "yaw": -90.26239013671875
                    }
                },
                "velocity": {
                    "x": -0.016367938369512558,
                    "y": -3.5233607292175293,
                    "z": -0.0834960788488388
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.816037654876709,
                "transform": {
                    "location": {
                        "x": 2391.83642578125,
                        "y": 2302.1171875,
                        "z": 363.9304504394531
                    },
                    "rotation": {
                        "roll": -0.5814515352249146,
                        "pitch": -3.890714645385742,
                        "yaw": -51.628990173339844
                    }
                },
                "velocity": {
                    "x": 5.319325923919678,
                    "y": -5.722985744476318,
                    "z": -0.20651870965957642
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9186334609985352,
                "transform": {
                    "location": {
                        "x": 2385.476318359375,
                        "y": 2350.007568359375,
                        "z": 365.17047119140625
                    },
                    "rotation": {
                        "roll": 0.007870982401072979,
                        "pitch": 1.428096890449524,
                        "yaw": 90.05596923828125
                    }
                },
                "velocity": {
                    "x": -0.0018350895261391997,
                    "y": 1.9180474281311035,
                    "z": 0.04738420248031616
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.654483318328857,
                "transform": {
                    "location": {
                        "x": 2385.544921875,
                        "y": 2363.141357421875,
                        "z": 365.5055847167969
                    },
                    "rotation": {
                        "roll": 0.008859683759510517,
                        "pitch": 1.3691250085830688,
                        "yaw": 90.17149353027344
                    }
                },
                "velocity": {
                    "x": -0.0029836639296263456,
                    "y": 4.65303373336792,
                    "z": 0.11611005663871765
                },
                "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": 0.24649576842784882,
        "expert_target_speed": 6.106556382227631,
        "target_point": [
            24.887936691512035,
            0.6595324768799746
        ],
        "target_point_next": [
            24.887936691512035,
            0.6595324768799746
        ]
    },
    "280": {
        "acceleration": [
            -0.14073200523853302,
            -0.6895160675048828,
            -0.13217508792877197
        ],
        "angular_velocity": [
            -0.3029627799987793,
            0.00280134379863739,
            1.37742280960083
        ],
        "forward_vector": [
            0.018796831369400024,
            0.9995183944702148,
            0.02469252608716488
        ],
        "right_vector": [
            -0.9998231530189514,
            0.01877524144947529,
            0.0011059398530051112
        ],
        "location": [
            2385.629150390625,
            2320.049072265625,
            364.4510803222656
        ],
        "rotation": [
            -0.0633850246667862,
            1.4149214029312134,
            88.9226303100586
        ],
        "velocity": [
            0.05896570906043053,
            4.970091819763184,
            0.1141284927725792
        ],
        "speed": 4.970441595243013,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 30.46938133239746,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.475830078125,
                2350.50927734375,
                365.18292236328125
            ],
            "velocity": [
                -0.0010778839932754636,
                1.7394722700119019,
                0.04260999709367752
            ],
            "speed_kmh": 6.263979881167606,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.521301507949829,
                "transform": {
                    "location": {
                        "x": 2388.2666015625,
                        "y": 2342.96435546875,
                        "z": 365.0084228515625
                    },
                    "rotation": {
                        "roll": -0.004119789227843285,
                        "pitch": -1.4933115243911743,
                        "yaw": -89.99099731445312
                    }
                },
                "velocity": {
                    "x": 0.025673218071460724,
                    "y": -2.5204107761383057,
                    "z": -0.06190548837184906
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001064168638549745,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.467041015625,
                        "z": 365.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0036620604805648327,
                        "pitch": -1.4250779151916504,
                        "yaw": -90.1510009765625
                    }
                },
                "velocity": {
                    "x": 6.22651532466989e-06,
                    "y": -7.418692257488146e-05,
                    "z": 0.0010615612845867872
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.438985347747803,
                "transform": {
                    "location": {
                        "x": 2388.295166015625,
                        "y": 2329.686767578125,
                        "z": 364.6773376464844
                    },
                    "rotation": {
                        "roll": 0.00025444236234761775,
                        "pitch": -1.3553143739700317,
                        "yaw": -90.26361083984375
                    }
                },
                "velocity": {
                    "x": -0.023214727640151978,
                    "y": -5.4374003410339355,
                    "z": -0.12921354174613953
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3549866676330566,
                "transform": {
                    "location": {
                        "x": 2388.23974609375,
                        "y": 2316.564208984375,
                        "z": 364.3682861328125
                    },
                    "rotation": {
                        "roll": -0.0002137170813512057,
                        "pitch": -1.3603482246398926,
                        "yaw": -90.26637268066406
                    }
                },
                "velocity": {
                    "x": -0.015817858278751373,
                    "y": -3.3540072441101074,
                    "z": -0.07950698584318161
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.17164421081543,
                "transform": {
                    "location": {
                        "x": 2393.3671875,
                        "y": 2300.74560546875,
                        "z": 363.8338317871094
                    },
                    "rotation": {
                        "roll": -1.5177305936813354,
                        "pitch": -0.6306108236312866,
                        "yaw": -40.95074462890625
                    }
                },
                "velocity": {
                    "x": 6.496758937835693,
                    "y": -4.949049949645996,
                    "z": -0.27348339557647705
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.7399944067001343,
                "transform": {
                    "location": {
                        "x": 2385.475830078125,
                        "y": 2350.50927734375,
                        "z": 365.18292236328125
                    },
                    "rotation": {
                        "roll": 0.008347589522600174,
                        "pitch": 1.4135143756866455,
                        "yaw": 90.05150604248047
                    }
                },
                "velocity": {
                    "x": -0.0010778839932754636,
                    "y": 1.7394722700119019,
                    "z": 0.04260999709367752
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.56063175201416,
                "transform": {
                    "location": {
                        "x": 2385.54345703125,
                        "y": 2364.33740234375,
                        "z": 365.53515625
                    },
                    "rotation": {
                        "roll": 0.008573650382459164,
                        "pitch": 1.4157136678695679,
                        "yaw": 90.1081771850586
                    }
                },
                "velocity": {
                    "x": -0.0025208594743162394,
                    "y": 4.559193134307861,
                    "z": 0.11452402174472809
                },
                "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": 0.2570541203022003,
        "expert_target_speed": 6.096347345028427,
        "target_point": [
            23.64034009800055,
            0.5620317898124295
        ],
        "target_point_next": [
            23.64034009800055,
            0.5620317898124295
        ]
    },
    "285": {
        "acceleration": [
            -0.12731671333312988,
            -0.4545116424560547,
            -0.006236284971237183
        ],
        "angular_velocity": [
            -0.1565447300672531,
            -0.03311813622713089,
            1.4273381233215332
        ],
        "forward_vector": [
            0.012560616247355938,
            0.999638557434082,
            0.023768091574311256
        ],
        "right_vector": [
            -0.9999209046363831,
            0.012540463358163834,
            0.0009968047961592674
        ],
        "location": [
            2385.640869140625,
            2321.27880859375,
            364.4801025390625
        ],
        "rotation": [
            -0.05712885409593582,
            1.3619396686553955,
            89.28010559082031
        ],
        "velocity": [
            0.025994189083576202,
            4.865840435028076,
            0.11499334126710892
        ],
        "speed": 4.8659098673342,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.704601287841797,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.475830078125,
                2350.974365234375,
                365.1942443847656
            ],
            "velocity": [
                -0.0018194919684901834,
                2.125546455383301,
                0.052546557039022446
            ],
            "speed_kmh": 7.654307932151313,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.548933982849121,
                "transform": {
                    "location": {
                        "x": 2388.27294921875,
                        "y": 2342.205078125,
                        "z": 364.9898986816406
                    },
                    "rotation": {
                        "roll": -0.008422905579209328,
                        "pitch": -1.4853748083114624,
                        "yaw": -89.8097152709961
                    }
                },
                "velocity": {
                    "x": 0.03684429079294205,
                    "y": -3.5477168560028076,
                    "z": -0.08532620966434479
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0014868681319057941,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.467041015625,
                        "z": 365.2126159667969
                    },
                    "rotation": {
                        "roll": -0.0036620604805648327,
                        "pitch": -1.4250779151916504,
                        "yaw": -90.1510009765625
                    }
                },
                "velocity": {
                    "x": -8.692122719367035e-06,
                    "y": -8.333757432410493e-05,
                    "z": 0.0014845053665339947
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5541527271270752,
                "transform": {
                    "location": {
                        "x": 2388.287353515625,
                        "y": 2328.799560546875,
                        "z": 364.6571350097656
                    },
                    "rotation": {
                        "roll": -0.011291515082120895,
                        "pitch": -1.4920068979263306,
                        "yaw": -89.89208984375
                    }
                },
                "velocity": {
                    "x": -0.0068983519449830055,
                    "y": -0.5539515018463135,
                    "z": -0.01324355136603117
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.5715951919555664,
                "transform": {
                    "location": {
                        "x": 2388.253662109375,
                        "y": 2315.714111328125,
                        "z": 364.3480529785156
                    },
                    "rotation": {
                        "roll": -0.020507801324129105,
                        "pitch": -1.3521382808685303,
                        "yaw": -89.608642578125
                    }
                },
                "velocity": {
                    "x": 0.10635026544332504,
                    "y": -3.569007158279419,
                    "z": -0.0846712738275528
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.904714584350586,
                "transform": {
                    "location": {
                        "x": 2395.06494140625,
                        "y": 2299.702392578125,
                        "z": 363.8103942871094
                    },
                    "rotation": {
                        "roll": -0.9334715604782104,
                        "pitch": -0.5248726606369019,
                        "yaw": -30.76832389831543
                    }
                },
                "velocity": {
                    "x": 7.082212924957275,
                    "y": -3.510558605194092,
                    "z": -0.05244920030236244
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.1261966228485107,
                "transform": {
                    "location": {
                        "x": 2385.475830078125,
                        "y": 2350.974365234375,
                        "z": 365.1942443847656
                    },
                    "rotation": {
                        "roll": 0.005907786078751087,
                        "pitch": 1.4171481132507324,
                        "yaw": 90.0475845336914
                    }
                },
                "velocity": {
                    "x": -0.0018194919684901834,
                    "y": 2.125546455383301,
                    "z": 0.052546557039022446
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.540168762207031,
                "transform": {
                    "location": {
                        "x": 2385.542724609375,
                        "y": 2365.429931640625,
                        "z": 365.5624084472656
                    },
                    "rotation": {
                        "roll": 0.009053490124642849,
                        "pitch": 1.4376522302627563,
                        "yaw": 90.07199096679688
                    }
                },
                "velocity": {
                    "x": -0.002016327576711774,
                    "y": 4.538763523101807,
                    "z": 0.11294008046388626
                },
                "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": 0.23714493215084076,
        "expert_target_speed": 5.991306154050935,
        "target_point": [
            22.413598694799685,
            0.4108675045663933
        ],
        "target_point_next": [
            22.413598694799685,
            0.4108675045663933
        ]
    },
    "290": {
        "acceleration": [
            -0.05190837383270264,
            -0.3611946105957031,
            -0.012790560722351074
        ],
        "angular_velocity": [
            -0.04125148057937622,
            -0.08809427917003632,
            1.1116622686386108
        ],
        "forward_vector": [
            0.006941813509911299,
            0.9997010231018066,
            0.023447031155228615
        ],
        "right_vector": [
            -0.9999758005142212,
            0.006926698610186577,
            0.0007257786928676069
        ],
        "location": [
            2385.6455078125,
            2322.4814453125,
            364.5085754394531
        ],
        "rotation": [
            -0.041595496237277985,
            1.3435391187667847,
            89.6021499633789
        ],
        "velocity": [
            0.005047319922596216,
            4.765259265899658,
            0.11433713883161545
        ],
        "speed": 4.765261938936931,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.11733055114746,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.475341796875,
                2351.58984375,
                365.20941162109375
            ],
            "velocity": [
                -0.0033160101156681776,
                2.7876009941101074,
                0.06848537176847458
            ],
            "speed_kmh": 10.038398789441066,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.696774005889893,
                "transform": {
                    "location": {
                        "x": 2388.27978515625,
                        "y": 2341.16845703125,
                        "z": 364.9648742675781
                    },
                    "rotation": {
                        "roll": -0.020874008536338806,
                        "pitch": -1.4988713264465332,
                        "yaw": -89.73394012451172
                    }
                },
                "velocity": {
                    "x": 0.011230635456740856,
                    "y": -4.695379257202148,
                    "z": -0.1139000952243805
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.001171650248579681,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.467041015625,
                        "z": 365.212646484375
                    },
                    "rotation": {
                        "roll": -0.003326422767713666,
                        "pitch": -1.4245587587356567,
                        "yaw": -90.15108489990234
                    }
                },
                "velocity": {
                    "x": 1.0227872735413257e-05,
                    "y": -7.85109368734993e-05,
                    "z": 0.0011689721141010523
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.061248779296875,
                "transform": {
                    "location": {
                        "x": 2388.28662109375,
                        "y": 2328.659912109375,
                        "z": 364.653076171875
                    },
                    "rotation": {
                        "roll": -0.01116939913481474,
                        "pitch": -1.397060513496399,
                        "yaw": -89.8846435546875
                    }
                },
                "velocity": {
                    "x": -0.0026464404072612524,
                    "y": -1.06094229221344,
                    "z": -0.02536461316049099
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3526039123535156,
                "transform": {
                    "location": {
                        "x": 2388.276123046875,
                        "y": 2314.84228515625,
                        "z": 364.3275451660156
                    },
                    "rotation": {
                        "roll": -0.031066926196217537,
                        "pitch": -1.3578824996948242,
                        "yaw": -89.03697204589844
                    }
                },
                "velocity": {
                    "x": 0.10759633779525757,
                    "y": -3.349935531616211,
                    "z": -0.07942895591259003
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.094922065734863,
                "transform": {
                    "location": {
                        "x": 2396.9296875,
                        "y": 2298.991943359375,
                        "z": 363.79449462890625
                    },
                    "rotation": {
                        "roll": -0.8964844942092896,
                        "pitch": -0.5299338698387146,
                        "yaw": -19.96175765991211
                    }
                },
                "velocity": {
                    "x": 7.783328056335449,
                    "y": -2.2230939865112305,
                    "z": -0.07358994334936142
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.7884440422058105,
                "transform": {
                    "location": {
                        "x": 2385.475341796875,
                        "y": 2351.58984375,
                        "z": 365.20941162109375
                    },
                    "rotation": {
                        "roll": 0.007036371622234583,
                        "pitch": 1.4276460409164429,
                        "yaw": 90.04728698730469
                    }
                },
                "velocity": {
                    "x": -0.0033160101156681776,
                    "y": 2.7876009941101074,
                    "z": 0.06848537176847458
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.677211284637451,
                "transform": {
                    "location": {
                        "x": 2385.5419921875,
                        "y": 2366.623291015625,
                        "z": 365.5924072265625
                    },
                    "rotation": {
                        "roll": 0.007983783259987831,
                        "pitch": 1.4168611764907837,
                        "yaw": 90.05148315429688
                    }
                },
                "velocity": {
                    "x": -0.0028669785242527723,
                    "y": 4.675711631774902,
                    "z": 0.1183917373418808
                },
                "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": 0.22600525617599487,
        "expert_target_speed": 5.8921085826599,
        "target_point": [
            21.21291374564131,
            0.28119012733317833
        ],
        "target_point_next": [
            21.21291374564131,
            0.28119012733317833
        ]
    },
    "295": {
        "acceleration": [
            -0.06026460975408554,
            -0.26671409606933594,
            0.0012993812561035156
        ],
        "angular_velocity": [
            0.03007565252482891,
            -0.10617753863334656,
            0.747372567653656
        ],
        "forward_vector": [
            0.003247864544391632,
            0.9997186660766602,
            0.023493390530347824
        ],
        "right_vector": [
            -0.9999946355819702,
            0.0032399017363786697,
            0.00037699934910051525
        ],
        "location": [
            2385.646728515625,
            2323.6630859375,
            364.53668212890625
        ],
        "rotation": [
            -0.021606435999274254,
            1.3461960554122925,
            89.81385803222656
        ],
        "velocity": [
            -0.004175828769803047,
            4.692069053649902,
            0.11119968444108963
        ],
        "speed": 4.692070911843192,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.72393798828125,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.4755859375,
                2352.378173828125,
                365.22882080078125
            ],
            "velocity": [
                0.006143104285001755,
                3.4829623699188232,
                0.08593988418579102
            ],
            "speed_kmh": 12.542500369589906,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2898383140563965,
                "transform": {
                    "location": {
                        "x": 2388.28369140625,
                        "y": 2340.010498046875,
                        "z": 364.935302734375
                    },
                    "rotation": {
                        "roll": -0.0128479627892375,
                        "pitch": -1.3011441230773926,
                        "yaw": -89.79020690917969
                    }
                },
                "velocity": {
                    "x": 0.009197167120873928,
                    "y": -3.2888128757476807,
                    "z": -0.0816175565123558
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.1034121885895729,
                "transform": {
                    "location": {
                        "x": 2388.302490234375,
                        "y": 2351.462158203125,
                        "z": 365.2125244140625
                    },
                    "rotation": {
                        "roll": -0.003479171544313431,
                        "pitch": -1.4129953384399414,
                        "yaw": -90.14947509765625
                    }
                },
                "velocity": {
                    "x": 0.00024640525225549936,
                    "y": -0.10338512808084488,
                    "z": -0.002352752722799778
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6225953102111816,
                "transform": {
                    "location": {
                        "x": 2388.28662109375,
                        "y": 2328.314697265625,
                        "z": 364.6443176269531
                    },
                    "rotation": {
                        "roll": -0.007568436209112406,
                        "pitch": -1.3436552286148071,
                        "yaw": -89.9852294921875
                    }
                },
                "velocity": {
                    "x": -0.005482204258441925,
                    "y": -1.6221336126327515,
                    "z": -0.03831426426768303
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1975271701812744,
                "transform": {
                    "location": {
                        "x": 2388.299560546875,
                        "y": 2314.0283203125,
                        "z": 364.3082580566406
                    },
                    "rotation": {
                        "roll": -0.038299642503261566,
                        "pitch": -1.358947992324829,
                        "yaw": -88.67974090576172
                    }
                },
                "velocity": {
                    "x": 0.1070411205291748,
                    "y": -3.194836378097534,
                    "z": -0.07577375322580338
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.030677795410156,
                "transform": {
                    "location": {
                        "x": 2398.9111328125,
                        "y": 2298.613525390625,
                        "z": 363.7749938964844
                    },
                    "rotation": {
                        "roll": -0.9134215116500854,
                        "pitch": -0.6140681505203247,
                        "yaw": -9.875958442687988
                    }
                },
                "velocity": {
                    "x": 7.981362819671631,
                    "y": -0.8848907947540283,
                    "z": -0.0812455266714096
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.484027862548828,
                "transform": {
                    "location": {
                        "x": 2385.4755859375,
                        "y": 2352.378173828125,
                        "z": 365.22882080078125
                    },
                    "rotation": {
                        "roll": 0.0083926972001791,
                        "pitch": 1.4290462732315063,
                        "yaw": 90.00599670410156
                    }
                },
                "velocity": {
                    "x": 0.006143104285001755,
                    "y": 3.4829623699188232,
                    "z": 0.08593988418579102
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.0876946449279785,
                "transform": {
                    "location": {
                        "x": 2385.543212890625,
                        "y": 2367.69873046875,
                        "z": 365.6188659667969
                    },
                    "rotation": {
                        "roll": 0.003677310887724161,
                        "pitch": 1.4812220335006714,
                        "yaw": 89.99075317382812
                    }
                },
                "velocity": {
                    "x": 0.008944932371377945,
                    "y": 4.086385250091553,
                    "z": 0.10307633876800537
                },
                "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": 0.2237776219844818,
        "expert_target_speed": 5.8209743151228555,
        "target_point": [
            20.03217249934481,
            0.19989148133224816
        ],
        "target_point_next": [
            20.03217249934481,
            0.19989148133224816
        ]
    },
    "300": {
        "acceleration": [
            -0.03904704004526138,
            -0.16042709350585938,
            -0.003951340913772583
        ],
        "angular_velocity": [
            0.05348912253975868,
            -0.016315359622240067,
            0.8061292171478271
        ],
        "forward_vector": [
            -6.046588168828748e-05,
            0.9997199177742004,
            0.02366667427122593
        ],
        "right_vector": [
            -0.9999999403953552,
            -6.672258314210922e-05,
            0.00026357825845479965
        ],
        "location": [
            2385.64453125,
            2324.828857421875,
            364.5642395019531
        ],
        "rotation": [
            -0.01510615274310112,
            1.356127142906189,
            90.00346374511719
        ],
        "velocity": [
            -0.01820453628897667,
            4.640995502471924,
            0.11054404824972153
        ],
        "speed": 4.641031206435281,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.51807403564453,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.47705078125,
                2353.338134765625,
                365.25244140625
            ],
            "velocity": [
                0.007881016470491886,
                4.1693572998046875,
                0.10241073369979858
            ],
            "speed_kmh": 15.014240276968028,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6868302822113037,
                "transform": {
                    "location": {
                        "x": 2388.285888671875,
                        "y": 2339.2255859375,
                        "z": 364.9168395996094
                    },
                    "rotation": {
                        "roll": -0.011413604952394962,
                        "pitch": -1.3653547763824463,
                        "yaw": -89.80638885498047
                    }
                },
                "velocity": {
                    "x": 0.0100358035415411,
                    "y": -3.6857383251190186,
                    "z": -0.08915531635284424
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.709861159324646,
                "transform": {
                    "location": {
                        "x": 2388.302978515625,
                        "y": 2351.374267578125,
                        "z": 365.21038818359375
                    },
                    "rotation": {
                        "roll": -0.005096406675875187,
                        "pitch": -1.3201594352722168,
                        "yaw": -90.14215850830078
                    }
                },
                "velocity": {
                    "x": 0.002644049469381571,
                    "y": -0.709635853767395,
                    "z": -0.01768641360104084
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.227316379547119,
                "transform": {
                    "location": {
                        "x": 2388.28515625,
                        "y": 2327.83154296875,
                        "z": 364.6328430175781
                    },
                    "rotation": {
                        "roll": -0.005065971054136753,
                        "pitch": -1.340260624885559,
                        "yaw": -90.04082489013672
                    }
                },
                "velocity": {
                    "x": -0.008078685961663723,
                    "y": -2.226685047149658,
                    "z": -0.052409011870622635
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.0481200218200684,
                "transform": {
                    "location": {
                        "x": 2388.323974609375,
                        "y": 2313.24755859375,
                        "z": 364.2897033691406
                    },
                    "rotation": {
                        "roll": -0.04281618446111679,
                        "pitch": -1.3581489324569702,
                        "yaw": -88.44587707519531
                    }
                },
                "velocity": {
                    "x": 0.10419972240924835,
                    "y": -3.0454745292663574,
                    "z": -0.07255084812641144
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.03848934173584,
                "transform": {
                    "location": {
                        "x": 2400.911376953125,
                        "y": 2298.492431640625,
                        "z": 363.7539367675781
                    },
                    "rotation": {
                        "roll": -0.6000365018844604,
                        "pitch": -0.6455689668655396,
                        "yaw": -2.980865955352783
                    }
                },
                "velocity": {
                    "x": 8.035871505737305,
                    "y": -0.18558020889759064,
                    "z": -0.08740227669477463
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.1706223487854,
                "transform": {
                    "location": {
                        "x": 2385.47705078125,
                        "y": 2353.338134765625,
                        "z": 365.25244140625
                    },
                    "rotation": {
                        "roll": 0.005859135650098324,
                        "pitch": 1.42892324924469,
                        "yaw": 89.95677947998047
                    }
                },
                "velocity": {
                    "x": 0.007881016470491886,
                    "y": 4.1693572998046875,
                    "z": 0.10241073369979858
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.693356990814209,
                "transform": {
                    "location": {
                        "x": 2385.545166015625,
                        "y": 2368.798095703125,
                        "z": 365.647216796875
                    },
                    "rotation": {
                        "roll": 0.0041947076097130775,
                        "pitch": 1.3922041654586792,
                        "yaw": 89.9400405883789
                    }
                },
                "velocity": {
                    "x": 0.010762876830995083,
                    "y": 4.69188117980957,
                    "z": 0.11720038950443268
                },
                "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": 0.20427410304546356,
        "expert_target_speed": 5.772608325379436,
        "target_point": [
            18.866988127082323,
            0.1262929077792283
        ],
        "target_point_next": [
            18.866988127082323,
            0.1262929077792283
        ]
    },
    "305": {
        "acceleration": [
            0.14929570257663727,
            -0.2579212188720703,
            -0.003204643726348877
        ],
        "angular_velocity": [
            -0.0011986613972112536,
            -0.11654569953680038,
            -0.6001708507537842
        ],
        "forward_vector": [
            -0.00059806666104123,
            0.9997169971466064,
            0.02378048747777939
        ],
        "right_vector": [
            -0.9999997615814209,
            -0.000590366602409631,
            -0.0003308178565930575
        ],
        "location": [
            2385.642822265625,
            2325.983154296875,
            364.5915832519531
        ],
        "rotation": [
            0.018959829583764076,
            1.3626500368118286,
            90.0342788696289
        ],
        "velocity": [
            0.007175360340625048,
            4.589247226715088,
            0.11046478152275085
        ],
        "speed": 4.589252836106128,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.498790740966797,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.47900390625,
                2354.47314453125,
                365.2805480957031
            ],
            "velocity": [
                0.010345724411308765,
                4.88969612121582,
                0.12105737626552582
            ],
            "speed_kmh": 17.608339371994347,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.732442855834961,
                "transform": {
                    "location": {
                        "x": 2388.288818359375,
                        "y": 2338.23193359375,
                        "z": 364.89306640625
                    },
                    "rotation": {
                        "roll": -0.010009661316871643,
                        "pitch": -1.3920812606811523,
                        "yaw": -89.82282257080078
                    }
                },
                "velocity": {
                    "x": 0.008924401365220547,
                    "y": -3.7313411235809326,
                    "z": -0.09023381024599075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.940784215927124,
                "transform": {
                    "location": {
                        "x": 2388.303955078125,
                        "y": 2351.044677734375,
                        "z": 365.20233154296875
                    },
                    "rotation": {
                        "roll": -0.011169448494911194,
                        "pitch": -1.203212857246399,
                        "yaw": -90.02569580078125
                    }
                },
                "velocity": {
                    "x": 0.007549053058028221,
                    "y": -1.940167784690857,
                    "z": -0.048325031995773315
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.8171260356903076,
                "transform": {
                    "location": {
                        "x": 2388.283447265625,
                        "y": 2327.198486328125,
                        "z": 364.6178283691406
                    },
                    "rotation": {
                        "roll": -0.0033263596706092358,
                        "pitch": -1.3413056135177612,
                        "yaw": -90.09394073486328
                    }
                },
                "velocity": {
                    "x": -0.01059671863913536,
                    "y": -2.81632137298584,
                    "z": -0.06648986786603928
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9230268001556396,
                "transform": {
                    "location": {
                        "x": 2388.34814453125,
                        "y": 2312.50341796875,
                        "z": 364.2721252441406
                    },
                    "rotation": {
                        "roll": -0.047454845160245895,
                        "pitch": -1.3596446514129639,
                        "yaw": -88.29045867919922
                    }
                },
                "velocity": {
                    "x": 0.10186795145273209,
                    "y": -2.9204299449920654,
                    "z": -0.06926965713500977
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.05865478515625,
                "transform": {
                    "location": {
                        "x": 2402.925048828125,
                        "y": 2298.485595703125,
                        "z": 363.7317810058594
                    },
                    "rotation": {
                        "roll": -0.3103637397289276,
                        "pitch": -0.6407126784324646,
                        "yaw": 0.020382056012749672
                    }
                },
                "velocity": {
                    "x": 8.057619094848633,
                    "y": 0.09457891434431076,
                    "z": -0.08803281933069229
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.891205310821533,
                "transform": {
                    "location": {
                        "x": 2385.47900390625,
                        "y": 2354.47314453125,
                        "z": 365.2805480957031
                    },
                    "rotation": {
                        "roll": 0.0043751997873187065,
                        "pitch": 1.4342918395996094,
                        "yaw": 89.9202651977539
                    }
                },
                "velocity": {
                    "x": 0.010345724411308765,
                    "y": 4.88969612121582,
                    "z": 0.12105737626552582
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.373121738433838,
                "transform": {
                    "location": {
                        "x": 2385.547607421875,
                        "y": 2369.924072265625,
                        "z": 365.67498779296875
                    },
                    "rotation": {
                        "roll": 0.0038661507423967123,
                        "pitch": 1.4421738386154175,
                        "yaw": 89.91230773925781
                    }
                },
                "velocity": {
                    "x": 0.010294395498931408,
                    "y": 4.371725559234619,
                    "z": 0.11001760512590408
                },
                "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": 0.19602718949317932,
        "expert_target_speed": 5.7245537350925,
        "target_point": [
            17.712732822739383,
            0.11886783628089125
        ],
        "target_point_next": [
            17.712732822739383,
            0.11886783628089125
        ]
    },
    "310": {
        "acceleration": [
            0.05085330456495285,
            -0.0838470458984375,
            -0.0007343292236328125
        ],
        "angular_velocity": [
            0.03688975051045418,
            0.019704669713974,
            -0.44610658288002014
        ],
        "forward_vector": [
            0.0018767310539260507,
            0.9997147917747498,
            0.023805633187294006
        ],
        "right_vector": [
            -0.9999980926513672,
            0.0018880232237279415,
            -0.00045188417425379157
        ],
        "location": [
            2385.646728515625,
            2327.123291015625,
            364.6187438964844
        ],
        "rotation": [
            0.025898398831486702,
            1.364091157913208,
            89.89244079589844
        ],
        "velocity": [
            0.02310892753303051,
            4.543793201446533,
            0.10779844224452972
        ],
        "speed": 4.543851965023009,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.65952491760254,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.48095703125,
                2355.77392578125,
                365.31298828125
            ],
            "velocity": [
                0.017295440658926964,
                5.426846027374268,
                0.1334851086139679
            ],
            "speed_kmh": 19.542654035178288,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4427,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.563790321350098,
                "transform": {
                    "location": {
                        "x": 2385.3671875,
                        "y": 2312.123291015625,
                        "z": 364.6536560058594
                    },
                    "rotation": {
                        "roll": -5.337577135833271e-08,
                        "pitch": 1.3549318313598633,
                        "yaw": 89.7375717163086
                    }
                },
                "velocity": {
                    "x": 0.02082955278456211,
                    "y": 4.5476908683776855,
                    "z": -0.38243377208709717
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.478386640548706,
                "transform": {
                    "location": {
                        "x": 2388.291015625,
                        "y": 2337.46337890625,
                        "z": 364.87359619140625
                    },
                    "rotation": {
                        "roll": -0.009246827103197575,
                        "pitch": -1.2706882953643799,
                        "yaw": -89.8248291015625
                    }
                },
                "velocity": {
                    "x": 0.00746576813980937,
                    "y": -2.4776463508605957,
                    "z": -0.06011207401752472
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.240682601928711,
                "transform": {
                    "location": {
                        "x": 2388.306396484375,
                        "y": 2350.462158203125,
                        "z": 365.18798828125
                    },
                    "rotation": {
                        "roll": -0.013397207483649254,
                        "pitch": -1.3148523569107056,
                        "yaw": -89.83526611328125
                    }
                },
                "velocity": {
                    "x": 0.00816239882260561,
                    "y": -2.239983558654785,
                    "z": -0.055367596447467804
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.4843952655792236,
                "transform": {
                    "location": {
                        "x": 2388.281005859375,
                        "y": 2326.41015625,
                        "z": 364.5990905761719
                    },
                    "rotation": {
                        "roll": -0.004211484454572201,
                        "pitch": -1.340909481048584,
                        "yaw": -90.143310546875
                    }
                },
                "velocity": {
                    "x": -0.01422383077442646,
                    "y": -3.4834110736846924,
                    "z": -0.0815807431936264
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.799652338027954,
                "transform": {
                    "location": {
                        "x": 2388.37255859375,
                        "y": 2311.789794921875,
                        "z": 364.2552795410156
                    },
                    "rotation": {
                        "roll": -0.055908095091581345,
                        "pitch": -1.3644394874572754,
                        "yaw": -88.18314361572266
                    }
                },
                "velocity": {
                    "x": 0.09869831055402756,
                    "y": -2.7970945835113525,
                    "z": -0.06763231009244919
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.034786224365234,
                "transform": {
                    "location": {
                        "x": 2404.935546875,
                        "y": 2298.522705078125,
                        "z": 363.7095642089844
                    },
                    "rotation": {
                        "roll": -0.1413879245519638,
                        "pitch": -0.6431578993797302,
                        "yaw": 1.1355589628219604
                    }
                },
                "velocity": {
                    "x": 8.03195571899414,
                    "y": 0.19419537484645844,
                    "z": -0.08808572590351105
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.4285149574279785,
                "transform": {
                    "location": {
                        "x": 2385.48095703125,
                        "y": 2355.77392578125,
                        "z": 365.31298828125
                    },
                    "rotation": {
                        "roll": 0.0015836063539609313,
                        "pitch": 1.4350568056106567,
                        "yaw": 89.77156066894531
                    }
                },
                "velocity": {
                    "x": 0.017295440658926964,
                    "y": 5.426846027374268,
                    "z": 0.1334851086139679
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.4457926750183105,
                "transform": {
                    "location": {
                        "x": 2385.550048828125,
                        "y": 2371.011474609375,
                        "z": 365.7023620605469
                    },
                    "rotation": {
                        "roll": 0.002685411600396037,
                        "pitch": 1.4221887588500977,
                        "yaw": 89.88995361328125
                    }
                },
                "velocity": {
                    "x": 0.0108273234218359,
                    "y": 4.4444122314453125,
                    "z": 0.11025464534759521
                },
                "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": 0.20717230439186096,
        "expert_target_speed": 5.6826935248283394,
        "target_point": [
            16.57223009008697,
            0.1658234294849758
        ],
        "target_point_next": [
            16.57223009008697,
            0.1658234294849758
        ]
    },
    "315": {
        "acceleration": [
            0.05087427794933319,
            0.19571304321289062,
            -0.00630602240562439
        ],
        "angular_velocity": [
            0.10916858166456223,
            0.06112467497587204,
            -0.696196973323822
        ],
        "forward_vector": [
            0.004436690825968981,
            0.9996986985206604,
            0.0241419468075037
        ],
        "right_vector": [
            -0.9999900460243225,
            0.004445621278136969,
            -0.0003162687353324145
        ],
        "location": [
            2385.6533203125,
            2328.26123046875,
            364.6457214355469
        ],
        "rotation": [
            0.018126146867871284,
            1.3833659887313843,
            89.74571990966797
        ],
        "velocity": [
            0.03505214676260948,
            4.569654941558838,
            0.10781612247228622
        ],
        "speed": 4.569789375661178,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 28.987051010131836,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.4853515625,
                2357.2392578125,
                365.34918212890625
            ],
            "velocity": [
                0.02083582431077957,
                6.250792026519775,
                0.15469415485858917
            ],
            "speed_kmh": 22.50986626393307,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4427,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.5092597007751465,
                "transform": {
                    "location": {
                        "x": 2385.37109375,
                        "y": 2313.252685546875,
                        "z": 364.2899475097656
                    },
                    "rotation": {
                        "roll": -0.008178613148629665,
                        "pitch": 1.3398985862731934,
                        "yaw": 89.78036499023438
                    }
                },
                "velocity": {
                    "x": -0.004642433486878872,
                    "y": 4.376904010772705,
                    "z": -1.084487795829773
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.007476876489818096,
                "transform": {
                    "location": {
                        "x": 2388.292236328125,
                        "y": 2337.050048828125,
                        "z": 364.86273193359375
                    },
                    "rotation": {
                        "roll": -0.010467490181326866,
                        "pitch": -1.1604012250900269,
                        "yaw": -89.828857421875
                    }
                },
                "velocity": {
                    "x": -0.0001646880409680307,
                    "y": -0.00747272465378046,
                    "z": -0.00018693595484364778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.7004383206367493,
                "transform": {
                    "location": {
                        "x": 2388.306884765625,
                        "y": 2350.280029296875,
                        "z": 365.1834411621094
                    },
                    "rotation": {
                        "roll": -0.015655506402254105,
                        "pitch": -1.6137686967849731,
                        "yaw": -89.73271942138672
                    }
                },
                "velocity": {
                    "x": 0.004245589952915907,
                    "y": -0.7001857757568359,
                    "z": -0.01832292042672634
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.341205596923828,
                "transform": {
                    "location": {
                        "x": 2388.27734375,
                        "y": 2325.432861328125,
                        "z": 364.5758361816406
                    },
                    "rotation": {
                        "roll": -0.0019530560821294785,
                        "pitch": -1.333990454673767,
                        "yaw": -90.18787384033203
                    }
                },
                "velocity": {
                    "x": -0.018400898203253746,
                    "y": -4.3399457931518555,
                    "z": -0.10294172912836075
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.9957969188690186,
                "transform": {
                    "location": {
                        "x": 2388.424560546875,
                        "y": 2311.0849609375,
                        "z": 364.2383117675781
                    },
                    "rotation": {
                        "roll": -0.09967036545276642,
                        "pitch": -1.3645282983779907,
                        "yaw": -86.950439453125
                    }
                },
                "velocity": {
                    "x": 0.4121107757091522,
                    "y": -2.9664530754089355,
                    "z": -0.07155564427375793
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047956466674805,
                "transform": {
                    "location": {
                        "x": 2406.944580078125,
                        "y": 2298.57421875,
                        "z": 363.68658447265625
                    },
                    "rotation": {
                        "roll": -0.049194324761629105,
                        "pitch": -0.6703147292137146,
                        "yaw": 1.482240080833435
                    }
                },
                "velocity": {
                    "x": 8.044708251953125,
                    "y": 0.20956695079803467,
                    "z": -0.09141651540994644
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.252740383148193,
                "transform": {
                    "location": {
                        "x": 2385.4853515625,
                        "y": 2357.2392578125,
                        "z": 365.34918212890625
                    },
                    "rotation": {
                        "roll": 0.00035341421607881784,
                        "pitch": 1.4427886009216309,
                        "yaw": 89.73242950439453
                    }
                },
                "velocity": {
                    "x": 0.02083582431077957,
                    "y": 6.250792026519775,
                    "z": 0.15469415485858917
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.31822395324707,
                "transform": {
                    "location": {
                        "x": 2385.552734375,
                        "y": 2372.096923828125,
                        "z": 365.7293701171875
                    },
                    "rotation": {
                        "roll": 0.0023468967992812395,
                        "pitch": 1.426081895828247,
                        "yaw": 89.87843322753906
                    }
                },
                "velocity": {
                    "x": 0.015541153959929943,
                    "y": 4.316856861114502,
                    "z": 0.10752210021018982
                },
                "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": 0.21802522242069244,
        "expert_target_speed": 5.712968685592129,
        "target_point": [
            15.433790524114022,
            0.2100518787752933
        ],
        "target_point_next": [
            15.433790524114022,
            0.2100518787752933
        ]
    },
    "320": {
        "acceleration": [
            0.051546841859817505,
            0.3564929962158203,
            0.04105031490325928
        ],
        "angular_velocity": [
            0.10203499346971512,
            0.025364622473716736,
            -0.5188069939613342
        ],
        "forward_vector": [
            0.006983687169849873,
            0.9996728301048279,
            0.024607079103589058
        ],
        "right_vector": [
            -0.9999755024909973,
            0.006992674432694912,
            -0.00027921886066906154
        ],
        "location": [
            2385.6630859375,
            2329.412353515625,
            364.67291259765625
        ],
        "rotation": [
            0.01600290834903717,
            1.4100241661071777,
            89.59973907470703
        ],
        "velocity": [
            0.04717553034424782,
            4.642786502838135,
            0.11118774116039276
        ],
        "speed": 4.643026172831596,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.47308921813965,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.4912109375,
                2358.876220703125,
                365.38983154296875
            ],
            "velocity": [
                0.023348407819867134,
                6.859029769897461,
                0.17133566737174988
            ],
            "speed_kmh": 24.700352793967898,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4427,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.319405555725098,
                "transform": {
                    "location": {
                        "x": 2385.366943359375,
                        "y": 2314.337158203125,
                        "z": 364.2917785644531
                    },
                    "rotation": {
                        "roll": -0.0014648414216935635,
                        "pitch": 1.349365234375,
                        "yaw": 90.06077575683594
                    }
                },
                "velocity": {
                    "x": -0.02143450267612934,
                    "y": 4.311967372894287,
                    "z": 0.25246939063072205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.240358591079712,
                "transform": {
                    "location": {
                        "x": 2388.292236328125,
                        "y": 2336.869384765625,
                        "z": 364.8601989746094
                    },
                    "rotation": {
                        "roll": -0.011169414035975933,
                        "pitch": -1.3891305923461914,
                        "yaw": -89.78842163085938
                    }
                },
                "velocity": {
                    "x": 0.003457557177171111,
                    "y": -1.239991307258606,
                    "z": -0.029984377324581146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9704996347427368,
                "transform": {
                    "location": {
                        "x": 2388.30859375,
                        "y": 2349.931640625,
                        "z": 365.17498779296875
                    },
                    "rotation": {
                        "roll": -0.013549873605370522,
                        "pitch": -1.2571371793746948,
                        "yaw": -89.76541137695312
                    }
                },
                "velocity": {
                    "x": 0.009357313625514507,
                    "y": -1.9699138402938843,
                    "z": -0.04712438955903053
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.062999725341797,
                "transform": {
                    "location": {
                        "x": 2388.2724609375,
                        "y": 2324.2314453125,
                        "z": 364.5476989746094
                    },
                    "rotation": {
                        "roll": -0.0010070315329357982,
                        "pitch": -1.332603931427002,
                        "yaw": -90.22607421875
                    }
                },
                "velocity": {
                    "x": -0.02181011624634266,
                    "y": -5.06157922744751,
                    "z": -0.11792942136526108
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.7293965816497803,
                "transform": {
                    "location": {
                        "x": 2388.529541015625,
                        "y": 2310.251708984375,
                        "z": 364.2183532714844
                    },
                    "rotation": {
                        "roll": -0.1386413723230362,
                        "pitch": -1.3559222221374512,
                        "yaw": -84.82329559326172
                    }
                },
                "velocity": {
                    "x": 0.563910186290741,
                    "y": -3.6854732036590576,
                    "z": -0.08769387751817703
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.048235893249512,
                "transform": {
                    "location": {
                        "x": 2408.956298828125,
                        "y": 2298.626708984375,
                        "z": 363.66314697265625
                    },
                    "rotation": {
                        "roll": -0.01425170712172985,
                        "pitch": -0.6873492002487183,
                        "yaw": 1.4779001474380493
                    }
                },
                "velocity": {
                    "x": 8.045013427734375,
                    "y": 0.2068559229373932,
                    "z": -0.09520664066076279
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.861208915710449,
                "transform": {
                    "location": {
                        "x": 2385.4912109375,
                        "y": 2358.876220703125,
                        "z": 365.38983154296875
                    },
                    "rotation": {
                        "roll": 0.0017967501189559698,
                        "pitch": 1.4439224004745483,
                        "yaw": 89.77718353271484
                    }
                },
                "velocity": {
                    "x": 0.023348407819867134,
                    "y": 6.859029769897461,
                    "z": 0.17133566737174988
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.625687599182129,
                "transform": {
                    "location": {
                        "x": 2385.556396484375,
                        "y": 2373.21826171875,
                        "z": 365.7574462890625
                    },
                    "rotation": {
                        "roll": 0.0017249180236831307,
                        "pitch": 1.3917124271392822,
                        "yaw": 89.84362030029297
                    }
                },
                "velocity": {
                    "x": 0.015310928225517273,
                    "y": 4.624264240264893,
                    "z": 0.11371467262506485
                },
                "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": 0.2212863266468048,
        "expert_target_speed": 5.789638651642572,
        "target_point": [
            14.28204000726241,
            0.25121912008812897
        ],
        "target_point_next": [
            14.28204000726241,
            0.25121912008812897
        ]
    },
    "325": {
        "acceleration": [
            0.02841748297214508,
            0.4071044921875,
            0.019968152046203613
        ],
        "angular_velocity": [
            0.06615237891674042,
            0.04758339747786522,
            -0.37017330527305603
        ],
        "forward_vector": [
            0.008784136734902859,
            0.9996492862701416,
            0.024981878697872162
        ],
        "right_vector": [
            -0.9999613761901855,
            0.008788696490228176,
            -7.27195292711258e-05
        ],
        "location": [
            2385.674560546875,
            2330.5859375,
            364.7009582519531
        ],
        "rotation": [
            0.004167822655290365,
            1.4315050840377808,
            89.49654388427734
        ],
        "velocity": [
            0.050559151917696,
            4.741658687591553,
            0.11227253079414368
        ],
        "speed": 4.741928229892887,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.844364166259766,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.49658203125,
                2360.4208984375,
                365.42864990234375
            ],
            "velocity": [
                0.014680673368275166,
                4.60698938369751,
                0.11093694716691971
            ],
            "speed_kmh": 16.590053745559356,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4427,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.305215835571289,
                "transform": {
                    "location": {
                        "x": 2385.36083984375,
                        "y": 2315.38330078125,
                        "z": 364.33880615234375
                    },
                    "rotation": {
                        "roll": 0.005789410322904587,
                        "pitch": 1.3579986095428467,
                        "yaw": 90.22535705566406
                    }
                },
                "velocity": {
                    "x": -0.026868371292948723,
                    "y": 4.302789688110352,
                    "z": 0.14198997616767883
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.143178939819336,
                "transform": {
                    "location": {
                        "x": 2388.292724609375,
                        "y": 2336.445556640625,
                        "z": 364.8505859375
                    },
                    "rotation": {
                        "roll": -0.012725726701319218,
                        "pitch": -1.4590785503387451,
                        "yaw": -89.81597137451172
                    }
                },
                "velocity": {
                    "x": -0.002730522071942687,
                    "y": -2.142549753189087,
                    "z": -0.05185525864362717
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.26883602142334,
                "transform": {
                    "location": {
                        "x": 2388.3115234375,
                        "y": 2349.337158203125,
                        "z": 365.1603698730469
                    },
                    "rotation": {
                        "roll": -0.01324464287608862,
                        "pitch": -1.3211634159088135,
                        "yaw": -89.74200439453125
                    }
                },
                "velocity": {
                    "x": 0.011610422283411026,
                    "y": -2.2681169509887695,
                    "z": -0.05592033267021179
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.457058906555176,
                "transform": {
                    "location": {
                        "x": 2388.267333984375,
                        "y": 2323.0576171875,
                        "z": 364.5199279785156
                    },
                    "rotation": {
                        "roll": -0.0016479315236210823,
                        "pitch": -1.3664202690124512,
                        "yaw": -90.21602630615234
                    }
                },
                "velocity": {
                    "x": -0.01950736530125141,
                    "y": -4.4557600021362305,
                    "z": -0.10579852014780045
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.515831470489502,
                "transform": {
                    "location": {
                        "x": 2388.67626953125,
                        "y": 2309.228759765625,
                        "z": 364.1932067871094
                    },
                    "rotation": {
                        "roll": -0.17056290805339813,
                        "pitch": -1.3810368776321411,
                        "yaw": -83.0234146118164
                    }
                },
                "velocity": {
                    "x": 0.7248691916465759,
                    "y": -4.455964088439941,
                    "z": -0.10809320211410522
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.041436195373535,
                "transform": {
                    "location": {
                        "x": 2410.96630859375,
                        "y": 2298.677490234375,
                        "z": 363.6391296386719
                    },
                    "rotation": {
                        "roll": -0.0064697265625,
                        "pitch": -0.6876770853996277,
                        "yaw": 1.4668184518814087
                    }
                },
                "velocity": {
                    "x": 8.038225173950195,
                    "y": 0.20598214864730835,
                    "z": -0.09597328305244446
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.608348369598389,
                "transform": {
                    "location": {
                        "x": 2385.49658203125,
                        "y": 2360.4208984375,
                        "z": 365.42864990234375
                    },
                    "rotation": {
                        "roll": 0.0009684657561592758,
                        "pitch": 1.393850326538086,
                        "yaw": 89.8055191040039
                    }
                },
                "velocity": {
                    "x": 0.014680673368275166,
                    "y": 4.60698938369751,
                    "z": 0.11093694716691971
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.243703365325928,
                "transform": {
                    "location": {
                        "x": 2385.560302734375,
                        "y": 2374.345458984375,
                        "z": 365.7850036621094
                    },
                    "rotation": {
                        "roll": 0.0016929272096604109,
                        "pitch": 1.4396672248840332,
                        "yaw": 89.82728576660156
                    }
                },
                "velocity": {
                    "x": 0.014893949031829834,
                    "y": 4.242367267608643,
                    "z": 0.10542949289083481
                },
                "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": 0.228997603058815,
        "expert_target_speed": 5.88034452378877,
        "target_point": [
            13.107925747648032,
            0.2780562857090154
        ],
        "target_point_next": [
            13.107925747648032,
            0.2780562857090154
        ]
    },
    "330": {
        "acceleration": [
            -0.0728347897529602,
            0.09249687194824219,
            0.008534938097000122
        ],
        "angular_velocity": [
            -0.07098295539617538,
            0.03689318150281906,
            -0.030283372849225998
        ],
        "forward_vector": [
            0.009832436218857765,
            0.9996383190155029,
            0.025030022487044334
        ],
        "right_vector": [
            -0.9999516010284424,
            0.009833624586462975,
            7.560941594420001e-05
        ],
        "location": [
            2385.687255859375,
            2331.782958984375,
            364.7294921875
        ],
        "rotation": [
            -0.004333458375185728,
            1.4342645406723022,
            89.43645477294922
        ],
        "velocity": [
            0.04883723706007004,
            4.8133978843688965,
            0.11547216027975082
        ],
        "speed": 4.81364563184398,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.615135192871094,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.499755859375,
                2361.388671875,
                365.4526062011719
            ],
            "velocity": [
                0.01258797012269497,
                3.8791399002075195,
                0.09662812948226929
            ],
            "speed_kmh": 13.96930902938447,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4427,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3224568367004395,
                "transform": {
                    "location": {
                        "x": 2385.352294921875,
                        "y": 2316.60693359375,
                        "z": 364.3728332519531
                    },
                    "rotation": {
                        "roll": 0.011524602770805359,
                        "pitch": 1.4883664846420288,
                        "yaw": 90.3345718383789
                    }
                },
                "velocity": {
                    "x": -0.03805225342512131,
                    "y": 5.3206586837768555,
                    "z": 0.1330026388168335
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.052851438522339,
                "transform": {
                    "location": {
                        "x": 2388.292236328125,
                        "y": 2335.7939453125,
                        "z": 364.83489990234375
                    },
                    "rotation": {
                        "roll": -0.009948761202394962,
                        "pitch": -1.4665576219558716,
                        "yaw": -89.8829574584961
                    }
                },
                "velocity": {
                    "x": -0.00307649839669466,
                    "y": -3.051961660385132,
                    "z": -0.07363734394311905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.595742404460907,
                "transform": {
                    "location": {
                        "x": 2388.31201171875,
                        "y": 2349.18359375,
                        "z": 365.1565246582031
                    },
                    "rotation": {
                        "roll": -0.01843254268169403,
                        "pitch": -1.6076078414916992,
                        "yaw": -89.5587158203125
                    }
                },
                "velocity": {
                    "x": 0.0023037150967866182,
                    "y": -0.5955644249916077,
                    "z": -0.014377565123140812
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.344456672668457,
                "transform": {
                    "location": {
                        "x": 2388.2626953125,
                        "y": 2321.9619140625,
                        "z": 364.4940185546875
                    },
                    "rotation": {
                        "roll": -0.0009155040606856346,
                        "pitch": -1.3624587059020996,
                        "yaw": -90.23358154296875
                    }
                },
                "velocity": {
                    "x": -0.019448064267635345,
                    "y": -4.343195915222168,
                    "z": -0.10284264385700226
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.211125373840332,
                "transform": {
                    "location": {
                        "x": 2388.912353515625,
                        "y": 2308.0234375,
                        "z": 364.1646728515625
                    },
                    "rotation": {
                        "roll": -0.20712287724018097,
                        "pitch": -1.363305687904358,
                        "yaw": -79.98027038574219
                    }
                },
                "velocity": {
                    "x": 1.2160108089447021,
                    "y": -5.065627098083496,
                    "z": -0.12871667742729187
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.047965049743652,
                "transform": {
                    "location": {
                        "x": 2412.9765625,
                        "y": 2298.726318359375,
                        "z": 363.6148376464844
                    },
                    "rotation": {
                        "roll": 0.0051186904311180115,
                        "pitch": -0.7029151916503906,
                        "yaw": 1.3854467868804932
                    }
                },
                "velocity": {
                    "x": 8.045158386230469,
                    "y": 0.18970203399658203,
                    "z": -0.09583623707294464
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.880363702774048,
                "transform": {
                    "location": {
                        "x": 2385.499755859375,
                        "y": 2361.388671875,
                        "z": 365.4526062011719
                    },
                    "rotation": {
                        "roll": 0.0015999198658391833,
                        "pitch": 1.4060148000717163,
                        "yaw": 89.8130111694336
                    }
                },
                "velocity": {
                    "x": 0.01258797012269497,
                    "y": 3.8791399002075195,
                    "z": 0.09662812948226929
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.856633186340332,
                "transform": {
                    "location": {
                        "x": 2385.56396484375,
                        "y": 2375.464111328125,
                        "z": 365.8132629394531
                    },
                    "rotation": {
                        "roll": 0.0005322135984897614,
                        "pitch": 1.3719322681427002,
                        "yaw": 89.8126220703125
                    }
                },
                "velocity": {
                    "x": 0.01808253861963749,
                    "y": 4.85512113571167,
                    "z": 0.11982788145542145
                },
                "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": 0.2358960062265396,
        "expert_target_speed": 5.947037897211747,
        "target_point": [
            11.910538181391598,
            0.29273398120602406
        ],
        "target_point_next": [
            11.910538181391598,
            0.29273398120602406
        ]
    },
    "335": {
        "acceleration": [
            -0.04121605306863785,
            -0.9178543090820312,
            -0.02024337649345398
        ],
        "angular_velocity": [
            -0.31303930282592773,
            -0.019321270287036896,
            0.3605426549911499
        ],
        "forward_vector": [
            0.008485576137900352,
            0.9996745586395264,
            0.02405923791229725
        ],
        "right_vector": [
            -0.9999639987945557,
            0.008480023592710495,
            0.00033279781928285956
        ],
        "location": [
            2385.696533203125,
            2332.972900390625,
            364.7581481933594
        ],
        "rotation": [
            -0.019073432311415672,
            1.378625750541687,
            89.51366424560547
        ],
        "velocity": [
            0.030796734616160393,
            4.6707048416137695,
            0.11243493854999542
        ],
        "speed": 4.670806371103102,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.402488708496094,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.503173828125,
                2362.365966796875,
                365.4768371582031
            ],
            "velocity": [
                0.016310587525367737,
                4.081792831420898,
                0.10127069056034088
            ],
            "speed_kmh": 14.699093387228224,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4427,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.6532793045043945,
                "transform": {
                    "location": {
                        "x": 2385.34619140625,
                        "y": 2317.99609375,
                        "z": 364.4060974121094
                    },
                    "rotation": {
                        "roll": 0.020414816215634346,
                        "pitch": 1.431641697883606,
                        "yaw": 90.26376342773438
                    }
                },
                "velocity": {
                    "x": -0.017699092626571655,
                    "y": 5.651642799377441,
                    "z": 0.134855255484581
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.190827369689941,
                "transform": {
                    "location": {
                        "x": 2388.291748046875,
                        "y": 2334.885498046875,
                        "z": 364.813232421875
                    },
                    "rotation": {
                        "roll": -0.008514489978551865,
                        "pitch": -1.4817479848861694,
                        "yaw": -89.94536590576172
                    }
                },
                "velocity": {
                    "x": -0.00435240101069212,
                    "y": -4.189612865447998,
                    "z": -0.1007981151342392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.028874635696411,
                "transform": {
                    "location": {
                        "x": 2388.31396484375,
                        "y": 2348.843505859375,
                        "z": 365.1483154296875
                    },
                    "rotation": {
                        "roll": -0.01922599785029888,
                        "pitch": -1.2339829206466675,
                        "yaw": -89.54931640625
                    }
                },
                "velocity": {
                    "x": 0.013141638599336147,
                    "y": -2.028205633163452,
                    "z": -0.050412215292453766
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.097984790802002,
                "transform": {
                    "location": {
                        "x": 2388.2578125,
                        "y": 2320.9072265625,
                        "z": 364.4690246582031
                    },
                    "rotation": {
                        "roll": -0.0007018407341092825,
                        "pitch": -1.3641048669815063,
                        "yaw": -90.24944305419922
                    }
                },
                "velocity": {
                    "x": -0.018191814422607422,
                    "y": -4.096790790557861,
                    "z": -0.09721442312002182
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 5.936413288116455,
                "transform": {
                    "location": {
                        "x": 2389.2666015625,
                        "y": 2306.703125,
                        "z": 364.13037109375
                    },
                    "rotation": {
                        "roll": -0.2576903998851776,
                        "pitch": -1.4055503606796265,
                        "yaw": -75.62516021728516
                    }
                },
                "velocity": {
                    "x": 1.9799745082855225,
                    "y": -5.594466209411621,
                    "z": -0.15049903094768524
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.045727729797363,
                "transform": {
                    "location": {
                        "x": 2414.98779296875,
                        "y": 2298.773193359375,
                        "z": 363.59039306640625
                    },
                    "rotation": {
                        "roll": 0.004087142180651426,
                        "pitch": -0.710209846496582,
                        "yaw": 1.3231699466705322
                    }
                },
                "velocity": {
                    "x": 8.043017387390137,
                    "y": 0.18359221518039703,
                    "z": -0.09952281415462494
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.0830817222595215,
                "transform": {
                    "location": {
                        "x": 2385.503173828125,
                        "y": 2362.365966796875,
                        "z": 365.4768371582031
                    },
                    "rotation": {
                        "roll": 0.0016858770977705717,
                        "pitch": 1.4338889122009277,
                        "yaw": 89.80072784423828
                    }
                },
                "velocity": {
                    "x": 0.016310587525367737,
                    "y": 4.081792831420898,
                    "z": 0.10127069056034088
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.690826892852783,
                "transform": {
                    "location": {
                        "x": 2385.56787109375,
                        "y": 2376.672119140625,
                        "z": 365.8428039550781
                    },
                    "rotation": {
                        "roll": 0.0013041606871411204,
                        "pitch": 1.4102290868759155,
                        "yaw": 89.80973815917969
                    }
                },
                "velocity": {
                    "x": 0.018025605008006096,
                    "y": 4.6893181800842285,
                    "z": 0.11759637296199799
                },
                "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": 0.24429680407047272,
        "expert_target_speed": 5.806113044653474,
        "target_point": [
            10.720942252583223,
            0.2759463464615147
        ],
        "target_point_next": [
            10.720942252583223,
            0.2759463464615147
        ]
    },
    "340": {
        "acceleration": [
            0.00482514500617981,
            -0.7482242584228516,
            -0.020764470100402832
        ],
        "angular_velocity": [
            -0.06280243396759033,
            -0.010188677348196507,
            0.13144493103027344
        ],
        "forward_vector": [
            0.008200197480618954,
            0.9996958374977112,
            0.023260043933987617
        ],
        "right_vector": [
            -0.9999663829803467,
            0.008200818672776222,
            6.869062053738162e-05
        ],
        "location": [
            2385.70556640625,
            2334.11181640625,
            364.78570556640625
        ],
        "rotation": [
            -0.003936748020350933,
            1.332822561264038,
            89.530029296875
        ],
        "velocity": [
            0.03765273839235306,
            4.463708877563477,
            0.10735481232404709
        ],
        "speed": 4.463867680873554,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 1,
        "distance_to_front_vehicle": 29.367128372192383,
        "front_vehicle_info": {
            "id": 4413,
            "type": "vehicle.ford.mustang",
            "location": [
                2385.50732421875,
                2363.469482421875,
                365.5043029785156
            ],
            "velocity": [
                0.019000094383955002,
                4.742598533630371,
                0.11859594285488129
            ],
            "speed_kmh": 17.07882907015694,
            "color": "0,12,58"
        },
        "other_vehicles": [
            {
                "id": 4427,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.433138370513916,
                "transform": {
                    "location": {
                        "x": 2385.342529296875,
                        "y": 2319.667724609375,
                        "z": 364.4458923339844
                    },
                    "rotation": {
                        "roll": 0.01435764692723751,
                        "pitch": 1.5935171842575073,
                        "yaw": 90.1560287475586
                    }
                },
                "velocity": {
                    "x": -0.014968358911573887,
                    "y": 7.431035995483398,
                    "z": 0.17613455653190613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 4426,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.2947211265563965,
                "transform": {
                    "location": {
                        "x": 2388.291259765625,
                        "y": 2333.6923828125,
                        "z": 364.7848205566406
                    },
                    "rotation": {
                        "roll": -0.006836043670773506,
                        "pitch": -1.4795554876327515,
                        "yaw": -89.99639129638672
                    }
                },
                "velocity": {
                    "x": -0.005642352160066366,
                    "y": -5.293254375457764,
                    "z": -0.12448840588331223
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 4425,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.344902992248535,
                "transform": {
                    "location": {
                        "x": 2388.317138671875,
                        "y": 2348.288818359375,
                        "z": 365.1346130371094
                    },
                    "rotation": {
                        "roll": -0.01730341464281082,
                        "pitch": -1.3098458051681519,
                        "yaw": -89.58212280273438
                    }
                },
                "velocity": {
                    "x": 0.013768947683274746,
                    "y": -2.344149112701416,
                    "z": -0.057831037789583206
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4422,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.9331324100494385,
                "transform": {
                    "location": {
                        "x": 2388.253173828125,
                        "y": 2319.9052734375,
                        "z": 364.44537353515625
                    },
                    "rotation": {
                        "roll": -0.0007934337481856346,
                        "pitch": -1.3635584115982056,
                        "yaw": -90.25116729736328
                    }
                },
                "velocity": {
                    "x": -0.018101708963513374,
                    "y": -3.9319632053375244,
                    "z": -0.09416505694389343
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 4418,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 6.690282821655273,
                "transform": {
                    "location": {
                        "x": 2389.812255859375,
                        "y": 2305.251220703125,
                        "z": 364.09136962890625
                    },
                    "rotation": {
                        "roll": 0.13943998515605927,
                        "pitch": -1.5400710105895996,
                        "yaw": -69.32601165771484
                    }
                },
                "velocity": {
                    "x": 2.9307467937469482,
                    "y": -6.01133918762207,
                    "z": -0.18549701571464539
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4415,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.044801712036133,
                "transform": {
                    "location": {
                        "x": 2416.998291015625,
                        "y": 2298.818359375,
                        "z": 363.56561279296875
                    },
                    "rotation": {
                        "roll": 0.0046363710425794125,
                        "pitch": -0.7093765735626221,
                        "yaw": 1.2876025438308716
                    }
                },
                "velocity": {
                    "x": 8.042226791381836,
                    "y": 0.1775313764810562,
                    "z": -0.09954562783241272
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 4413,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.744119167327881,
                "transform": {
                    "location": {
                        "x": 2385.50732421875,
                        "y": 2363.469482421875,
                        "z": 365.5043029785156
                    },
                    "rotation": {
                        "roll": 0.0006454985705204308,
                        "pitch": 1.4467569589614868,
                        "yaw": 89.78646850585938
                    }
                },
                "velocity": {
                    "x": 0.019000094383955002,
                    "y": 4.742598533630371,
                    "z": 0.11859594285488129
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 4412,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.522483825683594,
                "transform": {
                    "location": {
                        "x": 2385.572509765625,
                        "y": 2377.804443359375,
                        "z": 365.8707580566406
                    },
                    "rotation": {
                        "roll": 0.00020566284365486354,
                        "pitch": 1.4237391948699951,
                        "yaw": 89.79239654541016
                    }
                },
                "velocity": {
                    "x": 0.01775921694934368,
                    "y": 4.521091938018799,
                    "z": 0.11078153550624847
                },
                "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": 0.2400120198726654,
        "expert_target_speed": 5.604395583262487,
        "target_point": [
            9.582070724319507,
            0.272495960000848
        ],
        "target_point_next": [
            9.582070724319507,
            0.272495960000848
        ]
    }
}