{
    "0": {
        "acceleration": [
            -0.0028560685459524393,
            0.00438483664765954,
            -0.6394830346107483
        ],
        "angular_velocity": [
            -0.006474395282566547,
            -0.026632070541381836,
            -0.00011953057401115075
        ],
        "forward_vector": [
            -0.0010551244486123323,
            0.9999610185623169,
            0.008765346370637417
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010562153765931726,
            0.00011983792501268908
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.8522644042969
        ],
        "rotation": [
            -0.006866471376270056,
            0.502223789691925,
            90.06045532226562
        ],
        "velocity": [
            -0.00025592264137230814,
            -0.0014746020315214992,
            0.17348912358283997
        ],
        "speed": 0.0014966454322030691,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 206.90892028808594,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.1689453125,
                2524.47509765625,
                164.88661193847656
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0005519534461200237,
        "expert_target_speed": 1.3699684492786142,
        "target_point": [
            42.33962317405325,
            0.000813209308376972
        ],
        "target_point_next": [
            51.28147902559232,
            8.91367322774376
        ]
    },
    "5": {
        "acceleration": [
            0.001008324441500008,
            0.0019243924180045724,
            -0.3324419856071472
        ],
        "angular_velocity": [
            -0.0037509463727474213,
            -0.014882287941873074,
            -4.0905102650867775e-05
        ],
        "forward_vector": [
            -0.001055363449268043,
            0.9999616146087646,
            0.008702524937689304
        ],
        "right_vector": [
            -0.999999463558197,
            -0.001055760309100151,
            4.10112515965011e-05
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.87835693359375
        ],
        "rotation": [
            -0.0023498607333749533,
            0.4986242651939392,
            90.06047058105469
        ],
        "velocity": [
            -8.364540553884581e-05,
            -0.00047901846119202673,
            0.055637914687395096
        ],
        "speed": 0.0004862666347082999,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.000116348266602,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.1201171875,
                2488.19140625,
                365.01214599609375
            ],
            "velocity": [
                0.00014853972243145108,
                0.002774912631139159,
                -0.43582069873809814
            ],
            "speed_kmh": 1.5689864089084071,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.1014628410339355,
                "transform": {
                    "location": {
                        "x": 2187.842529296875,
                        "y": 2514.194091796875,
                        "z": 365.2201843261719
                    },
                    "rotation": {
                        "roll": -0.000762936077080667,
                        "pitch": -0.1514594405889511,
                        "yaw": -89.93937683105469
                    }
                },
                "velocity": {
                    "x": -0.0010350894881412387,
                    "y": 0.004208715166896582,
                    "z": -2.1014583110809326
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4561890959739685,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19189453125,
                        "z": 364.5797119140625
                    },
                    "rotation": {
                        "roll": -0.0005798324709758162,
                        "pitch": 0.6744128465652466,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 9.880249854177237e-05,
                    "y": 0.00539770070463419,
                    "z": -0.4561571478843689
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4576400816440582,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.19189453125,
                        "z": 364.7475280761719
                    },
                    "rotation": {
                        "roll": 0.0005224043852649629,
                        "pitch": 0.5967330932617188,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 3.8404112274292856e-05,
                    "y": 0.004741026554256678,
                    "z": -0.45761552453041077
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4358295500278473,
                "transform": {
                    "location": {
                        "x": 2185.1201171875,
                        "y": 2488.19140625,
                        "z": 365.01214599609375
                    },
                    "rotation": {
                        "roll": 0.0005335932364687324,
                        "pitch": 0.37477245926856995,
                        "yaw": 90.06037902832031
                    }
                },
                "velocity": {
                    "x": 0.00014853972243145108,
                    "y": 0.002774912631139159,
                    "z": -0.43582069873809814
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.46690434217453003,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.0875244140625
                    },
                    "rotation": {
                        "roll": 0.00010185385326622054,
                        "pitch": 0.2927896976470947,
                        "yaw": 90.06033325195312
                    }
                },
                "velocity": {
                    "x": -5.2957420848542824e-05,
                    "y": 0.0024519753642380238,
                    "z": -0.4668979048728943
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -5.113833140057977e-06,
        "expert_target_speed": 1.053830296151062,
        "target_point": [
            42.33962317405325,
            0.000813209308376972
        ],
        "target_point_next": [
            51.28147902559232,
            8.91367322774376
        ]
    },
    "10": {
        "acceleration": [
            0.002651873044669628,
            6.110814865678549e-05,
            -0.0894661396741867
        ],
        "angular_velocity": [
            -0.0007005942170508206,
            0.008659041486680508,
            0.00014771451242268085
        ],
        "forward_vector": [
            -0.0010551252635195851,
            0.999961793422699,
            0.00868202280253172
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010553129250183702,
            1.704413261904847e-05
        ],
        "location": [
            2185.1357421875,
            2473.19189453125,
            364.8858947753906
        ],
        "rotation": [
            -0.0009765936993062496,
            0.49744948744773865,
            90.06045532226562
        ],
        "velocity": [
            -9.584264626028016e-05,
            -0.00013624518760479987,
            0.014247153885662556
        ],
        "speed": 0.00016657900224109973,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.999866485595703,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.1201171875,
                2488.19140625,
                364.9878845214844
            ],
            "velocity": [
                -1.556561437610071e-05,
                -0.0002009743475355208,
                0.027867676690220833
            ],
            "speed_kmh": 0.1003262605734543,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.14024585485458374,
                "transform": {
                    "location": {
                        "x": 2187.842529296875,
                        "y": 2514.1943359375,
                        "z": 365.1376037597656
                    },
                    "rotation": {
                        "roll": -0.0009460396249778569,
                        "pitch": -0.18746136128902435,
                        "yaw": -89.93865203857422
                    }
                },
                "velocity": {
                    "x": 0.00011833880125777796,
                    "y": -0.000352722272509709,
                    "z": 0.14024536311626434
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0943894162774086,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192138671875,
                        "z": 364.57257080078125
                    },
                    "rotation": {
                        "roll": -0.0010375936981290579,
                        "pitch": 0.674945592880249,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": 0.00019917692407034338,
                    "y": -0.0011483648559078574,
                    "z": 0.09438221901655197
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09455757588148117,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.19189453125,
                        "z": 364.7402648925781
                    },
                    "rotation": {
                        "roll": 0.0005635745474137366,
                        "pitch": 0.5969858169555664,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -3.4413729736115783e-05,
                    "y": -0.001004891819320619,
                    "z": 0.09455222636461258
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.02786840684711933,
                "transform": {
                    "location": {
                        "x": 2185.1201171875,
                        "y": 2488.19140625,
                        "z": 364.9878845214844
                    },
                    "rotation": {
                        "roll": -0.00036621009348891675,
                        "pitch": 0.37691712379455566,
                        "yaw": 90.06034851074219
                    }
                },
                "velocity": {
                    "x": -1.556561437610071e-05,
                    "y": -0.0002009743475355208,
                    "z": 0.027867676690220833
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09806802123785019,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.0802307128906
                    },
                    "rotation": {
                        "roll": -0.00021360629762057215,
                        "pitch": 0.2942377030849457,
                        "yaw": 90.06033325195312
                    }
                },
                "velocity": {
                    "x": 0.0001462051586713642,
                    "y": -0.0005178111023269594,
                    "z": 0.0980665385723114
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0010688949842005968,
        "expert_target_speed": 1.0124365609434207,
        "target_point": [
            42.33962317405325,
            0.000813209308376972
        ],
        "target_point_next": [
            51.28147902559232,
            8.91367322774376
        ]
    },
    "15": {
        "acceleration": [
            -0.00035617343382909894,
            0.00033049430930987,
            -0.033586569130420685
        ],
        "angular_velocity": [
            0.0012977650621905923,
            0.003871641121804714,
            0.0001499206991866231
        ],
        "forward_vector": [
            -0.0010554827749729156,
            0.999961793422699,
            0.008681426756083965
        ],
        "right_vector": [
            -0.999999463558197,
            -0.0010555549524724483,
            3.728549700099393e-06
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.88763427734375
        ],
        "rotation": [
            -0.00021363820997066796,
            0.49741533398628235,
            90.06047821044922
        ],
        "velocity": [
            8.583022008679109e-07,
            -5.252525079413317e-05,
            0.003693745704367757
        ],
        "speed": 5.253226297861727e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.072171211242676,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.119384765625,
                2488.263671875,
                364.9952697753906
            ],
            "velocity": [
                -0.010264736600220203,
                1.0122476816177368,
                0.031555548310279846
            ],
            "speed_kmh": 3.646049158140499,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.9001190066337585,
                "transform": {
                    "location": {
                        "x": 2187.843017578125,
                        "y": 2514.12841796875,
                        "z": 365.1606140136719
                    },
                    "rotation": {
                        "roll": -0.0037841785233467817,
                        "pitch": -0.11135939508676529,
                        "yaw": -89.92027282714844
                    }
                },
                "velocity": {
                    "x": 0.011387676000595093,
                    "y": -0.8988747000694275,
                    "z": 0.04592188820242882
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02094537951052189,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192138671875,
                        "z": 364.5865173339844
                    },
                    "rotation": {
                        "roll": 0.0004788133082911372,
                        "pitch": 0.6738527417182922,
                        "yaw": 90.06039428710938
                    }
                },
                "velocity": {
                    "x": 9.584895451553166e-05,
                    "y": -0.00028952062712050974,
                    "z": 0.020943159237504005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020938217639923096,
                "transform": {
                    "location": {
                        "x": 2185.151611328125,
                        "y": 2458.19189453125,
                        "z": 364.7542419433594
                    },
                    "rotation": {
                        "roll": 0.00024053709057625383,
                        "pitch": 0.5970814228057861,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -1.2661015716730617e-05,
                    "y": -0.0002460619725752622,
                    "z": 0.020936768501996994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.012791395187378,
                "transform": {
                    "location": {
                        "x": 2185.119384765625,
                        "y": 2488.263671875,
                        "z": 364.9952697753906
                    },
                    "rotation": {
                        "roll": -0.006408680230379105,
                        "pitch": 0.6090547442436218,
                        "yaw": 90.07755279541016
                    }
                },
                "velocity": {
                    "x": -0.010264736600220203,
                    "y": 1.0122476816177368,
                    "z": 0.031555548310279846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.020866291597485542,
                "transform": {
                    "location": {
                        "x": 2185.104248046875,
                        "y": 2503.19140625,
                        "z": 365.0947265625
                    },
                    "rotation": {
                        "roll": -0.0007934595341794193,
                        "pitch": 0.29298093914985657,
                        "yaw": 90.06031799316406
                    }
                },
                "velocity": {
                    "x": 8.869510202202946e-05,
                    "y": -0.0001220689300680533,
                    "z": 0.020865745842456818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.002380204387009144,
        "expert_target_speed": 1.007616027586629,
        "target_point": [
            42.339623419772614,
            -0.0013148701194951387
        ],
        "target_point_next": [
            51.2819786302604,
            8.911044136753459
        ]
    },
    "20": {
        "acceleration": [
            -0.0016443267231807113,
            -0.0003096952859777957,
            -0.01068892888724804
        ],
        "angular_velocity": [
            0.003942977171391249,
            -0.02543416991829872,
            -0.000104056867712643
        ],
        "forward_vector": [
            -0.0010554827749729156,
            0.999961793422699,
            0.008677849546074867
        ],
        "right_vector": [
            -0.999999463558197,
            -0.00105557800270617,
            6.391666374838678e-06
        ],
        "location": [
            2185.135986328125,
            2473.19189453125,
            364.8879699707031
        ],
        "rotation": [
            -0.0003662293020170182,
            0.49721041321754456,
            90.06047821044922
        ],
        "velocity": [
            -8.008049917407334e-05,
            -4.4107509893365204e-05,
            0.0016964590176939964
        ],
        "speed": 9.142406016449975e-05,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.433042526245117,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.11572265625,
                2488.62451171875,
                365.0006103515625
            ],
            "velocity": [
                -0.021521588787436485,
                1.8066014051437378,
                0.019680337980389595
            ],
            "speed_kmh": 6.504612390061651,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.8808257579803467,
                "transform": {
                    "location": {
                        "x": 2187.84716796875,
                        "y": 2513.760498046875,
                        "z": 365.16455078125
                    },
                    "rotation": {
                        "roll": -0.0055847191251814365,
                        "pitch": -0.08032301813364029,
                        "yaw": -89.81725311279297
                    }
                },
                "velocity": {
                    "x": 0.02552606724202633,
                    "y": -1.8806517124176025,
                    "z": 0.0017662333557382226
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.141596555709839,
                "transform": {
                    "location": {
                        "x": 2185.165771484375,
                        "y": 2443.41455078125,
                        "z": 364.5920104980469
                    },
                    "rotation": {
                        "roll": 0.00759418960660696,
                        "pitch": 0.48622748255729675,
                        "yaw": 90.20259094238281
                    }
                },
                "velocity": {
                    "x": -0.029630174860358238,
                    "y": 2.1412549018859863,
                    "z": 0.024212883785367012
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1864492893218994,
                "transform": {
                    "location": {
                        "x": 2185.147705078125,
                        "y": 2458.425048828125,
                        "z": 364.7596130371094
                    },
                    "rotation": {
                        "roll": 0.00689872819930315,
                        "pitch": 0.40355488657951355,
                        "yaw": 90.05001068115234
                    }
                },
                "velocity": {
                    "x": -0.030626943334937096,
                    "y": 2.1861348152160645,
                    "z": 0.0208960622549057
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8068368434906006,
                "transform": {
                    "location": {
                        "x": 2185.11572265625,
                        "y": 2488.62451171875,
                        "z": 365.0006103515625
                    },
                    "rotation": {
                        "roll": -0.010711678303778172,
                        "pitch": 0.743438720703125,
                        "yaw": 90.20294952392578
                    }
                },
                "velocity": {
                    "x": -0.021521588787436485,
                    "y": 1.8066014051437378,
                    "z": 0.019680337980389595
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1282737255096436,
                "transform": {
                    "location": {
                        "x": 2185.1025390625,
                        "y": 2503.417236328125,
                        "z": 365.0987548828125
                    },
                    "rotation": {
                        "roll": 0.004781587980687618,
                        "pitch": 0.10864781588315964,
                        "yaw": 90.19770050048828
                    }
                },
                "velocity": {
                    "x": -0.02970287762582302,
                    "y": 2.1280405521392822,
                    "z": 0.010491571389138699
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0014485218562185764,
        "expert_target_speed": 1.0206203368172364,
        "target_point": [
            42.339623419772614,
            -0.0013148701194951387
        ],
        "target_point_next": [
            51.2819786302604,
            8.911044136753459
        ]
    },
    "25": {
        "acceleration": [
            0.041680630296468735,
            7.271971225738525,
            0.0592992790043354
        ],
        "angular_velocity": [
            1.9264289140701294,
            -0.034605972468853,
            -0.0514213964343071
        ],
        "forward_vector": [
            -0.0009403148433193564,
            0.9999446868896484,
            0.010480687953531742
        ],
        "right_vector": [
            -0.9999995827674866,
            -0.000939928344450891,
            -4.1800547478487715e-05
        ],
        "location": [
            2185.135986328125,
            2473.216552734375,
            364.8880310058594
        ],
        "rotation": [
            0.0023951265029609203,
            0.6005101799964905,
            90.05387878417969
        ],
        "velocity": [
            0.001996259670704603,
            0.5534241795539856,
            0.0061327265575528145
        ],
        "speed": 0.553427779902378,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.006067276000977,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.109130859375,
                2489.22216796875,
                365.0052185058594
            ],
            "velocity": [
                -0.03712688758969307,
                2.975769281387329,
                0.02089577540755272
            ],
            "speed_kmh": 10.713867247832377,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.041682004928589,
                "transform": {
                    "location": {
                        "x": 2187.85400390625,
                        "y": 2513.150390625,
                        "z": 365.1632995605469
                    },
                    "rotation": {
                        "roll": -0.006378173362463713,
                        "pitch": -0.06546053290367126,
                        "yaw": -89.64965057373047
                    }
                },
                "velocity": {
                    "x": 0.04138260334730148,
                    "y": -3.0413873195648193,
                    "z": -0.008902101777493954
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.338594675064087,
                "transform": {
                    "location": {
                        "x": 2185.157470703125,
                        "y": 2444.115966796875,
                        "z": 364.59967041015625
                    },
                    "rotation": {
                        "roll": 0.006919270381331444,
                        "pitch": 0.5239301323890686,
                        "yaw": 90.37838745117188
                    }
                },
                "velocity": {
                    "x": -0.04721818491816521,
                    "y": 3.338042736053467,
                    "z": 0.03814704716205597
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.316478967666626,
                "transform": {
                    "location": {
                        "x": 2185.1396484375,
                        "y": 2459.12548828125,
                        "z": 364.7660827636719
                    },
                    "rotation": {
                        "roll": 0.006079142913222313,
                        "pitch": 0.44263720512390137,
                        "yaw": 90.2557373046875
                    }
                },
                "velocity": {
                    "x": -0.0458478145301342,
                    "y": 3.316005229949951,
                    "z": 0.032259080559015274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.97607421875,
                "transform": {
                    "location": {
                        "x": 2185.109130859375,
                        "y": 2489.22216796875,
                        "z": 365.0052185058594
                    },
                    "rotation": {
                        "roll": -0.01101683545857668,
                        "pitch": 0.8295537233352661,
                        "yaw": 90.35562133789062
                    }
                },
                "velocity": {
                    "x": -0.03712688758969307,
                    "y": 2.975769281387329,
                    "z": 0.02089577540755272
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3529419898986816,
                "transform": {
                    "location": {
                        "x": 2185.093994140625,
                        "y": 2504.119873046875,
                        "z": 365.1018371582031
                    },
                    "rotation": {
                        "roll": 0.005202153231948614,
                        "pitch": 0.1476823389530182,
                        "yaw": 90.37267303466797
                    }
                },
                "velocity": {
                    "x": -0.04723222553730011,
                    "y": 3.352574110031128,
                    "z": 0.015378284268081188
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00015234756574500352,
        "expert_target_speed": 1.5834257586337952,
        "target_point": [
            42.314964788143584,
            0.006258385777229536
        ],
        "target_point_next": [
            51.255730452203714,
            8.920212004586945
        ]
    },
    "30": {
        "acceleration": [
            0.0072758737951517105,
            2.1970057487487793,
            0.00981522724032402
        ],
        "angular_velocity": [
            -0.089623361825943,
            -0.0423249825835228,
            -0.6102256774902344
        ],
        "forward_vector": [
            -0.0013839330058544874,
            0.999904990196228,
            0.013715432025492191
        ],
        "right_vector": [
            -0.9999990463256836,
            -0.0013842311454936862,
            1.2250150575709995e-05
        ],
        "location": [
            2185.135986328125,
            2473.4697265625,
            364.88958740234375
        ],
        "rotation": [
            -0.0007019479526206851,
            0.7858610153198242,
            90.07929992675781
        ],
        "velocity": [
            -0.0019193224143236876,
            1.2923955917358398,
            0.01015845313668251
        ],
        "speed": 1.29239701691731,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.685544967651367,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.09765625,
                2490.15478515625,
                365.01104736328125
            ],
            "velocity": [
                -0.0579632930457592,
                4.383476734161377,
                0.02800719253718853
            ],
            "speed_kmh": 15.78221787422185,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.41689920425415,
                "transform": {
                    "location": {
                        "x": 2187.865234375,
                        "y": 2512.20849609375,
                        "z": 365.1602783203125
                    },
                    "rotation": {
                        "roll": -0.005676268134266138,
                        "pitch": -0.03936920687556267,
                        "yaw": -89.46977996826172
                    }
                },
                "velocity": {
                    "x": 0.061624594032764435,
                    "y": -4.41644811630249,
                    "z": -0.013650788925588131
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.454338073730469,
                "transform": {
                    "location": {
                        "x": 2185.14501953125,
                        "y": 2445.09521484375,
                        "z": 364.6109619140625
                    },
                    "rotation": {
                        "roll": 0.008267974480986595,
                        "pitch": 0.5474737882614136,
                        "yaw": 90.5433578491211
                    }
                },
                "velocity": {
                    "x": -0.06321568787097931,
                    "y": 4.4535956382751465,
                    "z": 0.051148850470781326
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.435030460357666,
                "transform": {
                    "location": {
                        "x": 2185.128173828125,
                        "y": 2460.099365234375,
                        "z": 364.7757263183594
                    },
                    "rotation": {
                        "roll": 0.005889063701033592,
                        "pitch": 0.456331729888916,
                        "yaw": 90.46233367919922
                    }
                },
                "velocity": {
                    "x": -0.0617600753903389,
                    "y": 4.434378147125244,
                    "z": 0.044383008033037186
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.383949279785156,
                "transform": {
                    "location": {
                        "x": 2185.09765625,
                        "y": 2490.15478515625,
                        "z": 365.01104736328125
                    },
                    "rotation": {
                        "roll": -0.010986324399709702,
                        "pitch": 0.9510422945022583,
                        "yaw": 90.53406524658203
                    }
                },
                "velocity": {
                    "x": -0.0579632930457592,
                    "y": 4.383476734161377,
                    "z": 0.02800719253718853
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.477733135223389,
                "transform": {
                    "location": {
                        "x": 2185.08154296875,
                        "y": 2505.104248046875,
                        "z": 365.1065979003906
                    },
                    "rotation": {
                        "roll": 0.004760183859616518,
                        "pitch": 0.17569294571876526,
                        "yaw": 90.53936767578125
                    }
                },
                "velocity": {
                    "x": -0.0630863755941391,
                    "y": 4.477232933044434,
                    "z": 0.02229364402592182
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.00042634073179215193,
        "expert_target_speed": 2.33354891658991,
        "target_point": [
            42.061790040232395,
            -0.011330598741553323
        ],
        "target_point_next": [
            51.00633147484439,
            8.898834287636067
        ]
    },
    "35": {
        "acceleration": [
            -0.00400894321501255,
            2.0908355712890625,
            0.008098967373371124
        ],
        "angular_velocity": [
            -0.09249275177717209,
            0.003807121654972434,
            0.028712399303913116
        ],
        "forward_vector": [
            -0.0012485269689932466,
            0.9999074935913086,
            0.013543667271733284
        ],
        "right_vector": [
            -0.9999992251396179,
            -0.0012483586324378848,
            -2.088630571961403e-05
        ],
        "location": [
            2185.135986328125,
            2473.8740234375,
            364.89306640625
        ],
        "rotation": [
            0.0011968069011345506,
            0.7760187387466431,
            90.07154083251953
        ],
        "velocity": [
            -0.0028555497992783785,
            1.898325800895691,
            0.015472602099180222
        ],
        "speed": 1.8983279486197642,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.53520965576172,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.0810546875,
                2491.40869140625,
                365.0194091796875
            ],
            "velocity": [
                -0.07519792020320892,
                5.441275596618652,
                0.03513065353035927
            ],
            "speed_kmh": 19.590870893060863,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.249972343444824,
                "transform": {
                    "location": {
                        "x": 2187.882080078125,
                        "y": 2510.953857421875,
                        "z": 365.1568603515625
                    },
                    "rotation": {
                        "roll": -0.0035705575719475746,
                        "pitch": -0.07177845388650894,
                        "yaw": -89.33560180664062
                    }
                },
                "velocity": {
                    "x": 0.07427023351192474,
                    "y": -5.249420642852783,
                    "z": -0.016545237973332405
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.279066562652588,
                "transform": {
                    "location": {
                        "x": 2185.128662109375,
                        "y": 2446.3369140625,
                        "z": 364.62542724609375
                    },
                    "rotation": {
                        "roll": 0.008212645538151264,
                        "pitch": 0.5733875036239624,
                        "yaw": 90.66907501220703
                    }
                },
                "velocity": {
                    "x": -0.07581959664821625,
                    "y": 5.278148174285889,
                    "z": 0.06281425058841705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.183165073394775,
                "transform": {
                    "location": {
                        "x": 2185.112060546875,
                        "y": 2461.338134765625,
                        "z": 364.7883605957031
                    },
                    "rotation": {
                        "roll": 0.007175249978899956,
                        "pitch": 0.47210946679115295,
                        "yaw": 90.6205825805664
                    }
                },
                "velocity": {
                    "x": -0.07265026867389679,
                    "y": 5.182399749755859,
                    "z": 0.05154695361852646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.441908836364746,
                "transform": {
                    "location": {
                        "x": 2185.0810546875,
                        "y": 2491.40869140625,
                        "z": 365.0194091796875
                    },
                    "rotation": {
                        "roll": -0.007263224571943283,
                        "pitch": 0.9118165373802185,
                        "yaw": 90.6461181640625
                    }
                },
                "velocity": {
                    "x": -0.07519792020320892,
                    "y": 5.441275596618652,
                    "z": 0.03513065353035927
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.533117294311523,
                "transform": {
                    "location": {
                        "x": 2185.065673828125,
                        "y": 2506.2880859375,
                        "z": 365.11077880859375
                    },
                    "rotation": {
                        "roll": 0.002091814763844013,
                        "pitch": 0.22497275471687317,
                        "yaw": 90.66149139404297
                    }
                },
                "velocity": {
                    "x": -0.06469028443098068,
                    "y": 4.5326247215271,
                    "z": 0.016772279515862465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0007423178758472204,
        "expert_target_speed": 2.9530924254171,
        "target_point": [
            41.65749434503001,
            -0.006946248225442209
        ],
        "target_point_next": [
            50.60121361856337,
            8.904043895083838
        ]
    },
    "40": {
        "acceleration": [
            -0.009360834956169128,
            3.4388017654418945,
            0.04412919282913208
        ],
        "angular_velocity": [
            0.21620558202266693,
            -0.016138510778546333,
            0.029130492359399796
        ],
        "forward_vector": [
            -0.001355918007902801,
            0.9999024868011475,
            0.013899711892008781
        ],
        "right_vector": [
            -0.9999991059303284,
            -0.0013561155647039413,
            4.793517291545868e-06
        ],
        "location": [
            2185.13525390625,
            2474.44091796875,
            364.8975830078125
        ],
        "rotation": [
            -0.00027467485051602125,
            0.7964205145835876,
            90.07769775390625
        ],
        "velocity": [
            -0.004408373963087797,
            2.648336410522461,
            0.021571578457951546
        ],
        "speed": 2.648340079570596,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.387310028076172,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.068115234375,
                2492.82763671875,
                365.0289306640625
            ],
            "velocity": [
                -0.048433177173137665,
                6.1564483642578125,
                0.038063857704401016
            ],
            "speed_kmh": 22.164323543665056,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.638014793395996,
                "transform": {
                    "location": {
                        "x": 2187.895263671875,
                        "y": 2509.590087890625,
                        "z": 365.1528015136719
                    },
                    "rotation": {
                        "roll": 0.0035192302893847227,
                        "pitch": -0.12805238366127014,
                        "yaw": -89.47750854492188
                    }
                },
                "velocity": {
                    "x": 0.04288950935006142,
                    "y": -5.637823581695557,
                    "z": -0.01777707040309906
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.724742412567139,
                "transform": {
                    "location": {
                        "x": 2185.11572265625,
                        "y": 2447.70458984375,
                        "z": 364.6408996582031
                    },
                    "rotation": {
                        "roll": 0.0013481026981025934,
                        "pitch": 0.6011317372322083,
                        "yaw": 90.59014892578125
                    }
                },
                "velocity": {
                    "x": -0.044250767678022385,
                    "y": 5.724209308624268,
                    "z": 0.06443078815937042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2887611389160156,
                "transform": {
                    "location": {
                        "x": 2185.101318359375,
                        "y": 2462.529052734375,
                        "z": 364.79803466796875
                    },
                    "rotation": {
                        "roll": 0.001541335484944284,
                        "pitch": 0.6968158483505249,
                        "yaw": 90.54801177978516
                    }
                },
                "velocity": {
                    "x": -0.02598802000284195,
                    "y": 3.2885165214538574,
                    "z": 0.030578430742025375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.156756401062012,
                "transform": {
                    "location": {
                        "x": 2185.068115234375,
                        "y": 2492.82763671875,
                        "z": 365.0289306640625
                    },
                    "rotation": {
                        "roll": 0.023894254118204117,
                        "pitch": 0.7241434454917908,
                        "yaw": 90.47950744628906
                    }
                },
                "velocity": {
                    "x": -0.048433177173137665,
                    "y": 6.1564483642578125,
                    "z": 0.038063857704401016
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.303462505340576,
                "transform": {
                    "location": {
                        "x": 2185.056396484375,
                        "y": 2507.36083984375,
                        "z": 365.1146545410156
                    },
                    "rotation": {
                        "roll": 0.00020119876717217267,
                        "pitch": 0.23375637829303741,
                        "yaw": 90.57727813720703
                    }
                },
                "velocity": {
                    "x": -0.03444294258952141,
                    "y": 4.303289413452148,
                    "z": 0.017430486157536507
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0010077364277094603,
        "expert_target_speed": 3.705307903979708,
        "target_point": [
            41.090598522983946,
            -0.010764171073172922
        ],
        "target_point_next": [
            50.03513995759593,
            8.899400715304449
        ]
    },
    "45": {
        "acceleration": [
            -0.007892902940511703,
            3.85164737701416,
            0.04253063350915909
        ],
        "angular_velocity": [
            0.2229290008544922,
            0.031162209808826447,
            0.03857672959566116
        ],
        "forward_vector": [
            -0.0015017938567325473,
            0.9998875856399536,
            0.01491729635745287
        ],
        "right_vector": [
            -0.9999988675117493,
            -0.0015021914150565863,
            1.544318911328446e-05
        ],
        "location": [
            2185.13330078125,
            2475.2216796875,
            364.90362548828125
        ],
        "rotation": [
            -0.0008849281002767384,
            0.8547298312187195,
            90.0860595703125
        ],
        "velocity": [
            -0.006286825984716415,
            3.5767760276794434,
            0.02918282523751259
        ],
        "speed": 3.5767815527878275,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.270654678344727,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.05517578125,
                2494.49169921875,
                365.0392150878906
            ],
            "velocity": [
                -0.04966403916478157,
                6.6365861892700195,
                0.04022569581866264
            ],
            "speed_kmh": 23.89281810268847,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.914349555969238,
                "transform": {
                    "location": {
                        "x": 2187.907958984375,
                        "y": 2507.9208984375,
                        "z": 365.1462097167969
                    },
                    "rotation": {
                        "roll": 0.0011496954830363393,
                        "pitch": 0.022464491426944733,
                        "yaw": -89.54364776611328
                    }
                },
                "velocity": {
                    "x": 0.05844341218471527,
                    "y": -7.914090633392334,
                    "z": -0.02616140805184841
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.039444446563721,
                "transform": {
                    "location": {
                        "x": 2185.10400390625,
                        "y": 2449.24658203125,
                        "z": 364.6589660644531
                    },
                    "rotation": {
                        "roll": 0.0022627534344792366,
                        "pitch": 0.5203306078910828,
                        "yaw": 90.51351928710938
                    }
                },
                "velocity": {
                    "x": -0.05110560357570648,
                    "y": 7.0388054847717285,
                    "z": 0.0798955112695694
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.42855304479599,
                "transform": {
                    "location": {
                        "x": 2185.09912109375,
                        "y": 2462.8173828125,
                        "z": 364.7992858886719
                    },
                    "rotation": {
                        "roll": 0.004297900013625622,
                        "pitch": 0.8834370970726013,
                        "yaw": 90.54562377929688
                    }
                },
                "velocity": {
                    "x": -0.003339123446494341,
                    "y": 0.4285183250904083,
                    "z": 0.00431574834510684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.636894226074219,
                "transform": {
                    "location": {
                        "x": 2185.05517578125,
                        "y": 2494.49169921875,
                        "z": 365.0392150878906
                    },
                    "rotation": {
                        "roll": 0.01255121547728777,
                        "pitch": 0.6875746250152588,
                        "yaw": 90.44642639160156
                    }
                },
                "velocity": {
                    "x": -0.04966403916478157,
                    "y": 6.6365861892700195,
                    "z": 0.04022569581866264
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9689064025878906,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2508.40673828125,
                        "z": 365.1187744140625
                    },
                    "rotation": {
                        "roll": 0.0010862672934308648,
                        "pitch": 0.20673614740371704,
                        "yaw": 90.53428649902344
                    }
                },
                "velocity": {
                    "x": -0.03200902044773102,
                    "y": 3.968754291534424,
                    "z": 0.013479813933372498
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.002185446210205555,
        "expert_target_speed": 4.616521670577533,
        "target_point": [
            40.30983161149637,
            -0.020015133949927752
        ],
        "target_point_next": [
            49.25621678936371,
            8.888298512704122
        ]
    },
    "50": {
        "acceleration": [
            -0.011221319437026978,
            3.4862327575683594,
            0.040054693818092346
        ],
        "angular_velocity": [
            -0.08867698162794113,
            -0.050857063382864,
            0.045302268117666245
        ],
        "forward_vector": [
            -0.0016846312209963799,
            0.9998818635940552,
            0.015276074409484863
        ],
        "right_vector": [
            -0.9999985694885254,
            -0.001684876624494791,
            3.1953675261320313e-06
        ],
        "location": [
            2185.131591796875,
            2476.240966796875,
            364.911865234375
        ],
        "rotation": [
            -0.0001831024419516325,
            0.8752886652946472,
            90.0965347290039
        ],
        "velocity": [
            -0.008808176033198833,
            4.509261131286621,
            0.03716227412223816
        ],
        "speed": 4.509269734014293,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.81220245361328,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.04345703125,
                2496.052490234375,
                365.0501403808594
            ],
            "velocity": [
                -0.04537547379732132,
                6.050785541534424,
                0.0364825539290905
            ],
            "speed_kmh": 21.783836363617677,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.297037124633789,
                "transform": {
                    "location": {
                        "x": 2187.924072265625,
                        "y": 2505.84814453125,
                        "z": 365.1387023925781
                    },
                    "rotation": {
                        "roll": 0.0019046640954911709,
                        "pitch": -0.1716904491186142,
                        "yaw": -89.57772827148438
                    }
                },
                "velocity": {
                    "x": 0.05961199104785919,
                    "y": -8.29673957824707,
                    "z": -0.03723703324794769
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.450075626373291,
                "transform": {
                    "location": {
                        "x": 2185.0908203125,
                        "y": 2450.971435546875,
                        "z": 364.677490234375
                    },
                    "rotation": {
                        "roll": 0.0021883100271224976,
                        "pitch": 0.6520985960960388,
                        "yaw": 90.44707489013672
                    }
                },
                "velocity": {
                    "x": -0.046735942363739014,
                    "y": 6.449487209320068,
                    "z": 0.07352504879236221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5303646326065063,
                "transform": {
                    "location": {
                        "x": 2185.096923828125,
                        "y": 2463.0830078125,
                        "z": 364.8049011230469
                    },
                    "rotation": {
                        "roll": 0.0033874083310365677,
                        "pitch": 0.5238686800003052,
                        "yaw": 90.51171875
                    }
                },
                "velocity": {
                    "x": -0.011253777891397476,
                    "y": 1.5302541255950928,
                    "z": 0.014541043899953365
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.051065921783447,
                "transform": {
                    "location": {
                        "x": 2185.04345703125,
                        "y": 2496.052490234375,
                        "z": 365.0501403808594
                    },
                    "rotation": {
                        "roll": 0.007064029574394226,
                        "pitch": 0.29373225569725037,
                        "yaw": 90.43033599853516
                    }
                },
                "velocity": {
                    "x": -0.04537547379732132,
                    "y": 6.050785541534424,
                    "z": 0.0364825539290905
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6295533180236816,
                "transform": {
                    "location": {
                        "x": 2185.04052734375,
                        "y": 2509.38330078125,
                        "z": 365.1217346191406
                    },
                    "rotation": {
                        "roll": 0.0013256527017802,
                        "pitch": 0.21174950897693634,
                        "yaw": 90.50263977050781
                    }
                },
                "velocity": {
                    "x": -0.029827283695340157,
                    "y": 3.629410982131958,
                    "z": 0.011944121681153774
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0018275338225066662,
        "expert_target_speed": 5.494161088615736,
        "target_point": [
            39.29053968291185,
            -0.02593918054659778
        ],
        "target_point_next": [
            48.2382373384858,
            8.881056185027793
        ]
    },
    "55": {
        "acceleration": [
            0.002871304750442505,
            -2.8279495239257812,
            -0.013150274753570557
        ],
        "angular_velocity": [
            -1.7827106714248657,
            0.011089368723332882,
            0.04529497027397156
        ],
        "forward_vector": [
            -0.001890208339318633,
            0.9999262690544128,
            0.011994670145213604
        ],
        "right_vector": [
            -0.9999982118606567,
            -0.0018905040342360735,
            1.3315583601070102e-05
        ],
        "location": [
            2185.129638671875,
            2477.423828125,
            364.92205810546875
        ],
        "rotation": [
            -0.0007629815954715014,
            0.6872604489326477,
            90.10830688476562
        ],
        "velocity": [
            -0.009824777953326702,
            4.617605209350586,
            0.036300837993621826
        ],
        "speed": 4.6176156613217065,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.139850616455078,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.0341796875,
                2497.56298828125,
                365.0587463378906
            ],
            "velocity": [
                -0.02734982594847679,
                5.840672969818115,
                0.032821204513311386
            ],
            "speed_kmh": 21.026985194343144,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.788152694702148,
                "transform": {
                    "location": {
                        "x": 2187.9345703125,
                        "y": 2503.849853515625,
                        "z": 365.1302795410156
                    },
                    "rotation": {
                        "roll": 0.0029773160349577665,
                        "pitch": -0.3233616352081299,
                        "yaw": -89.70977020263672
                    }
                },
                "velocity": {
                    "x": 0.030884748324751854,
                    "y": -7.7879862785339355,
                    "z": -0.040476392954587936
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.256144046783447,
                "transform": {
                    "location": {
                        "x": 2185.08203125,
                        "y": 2452.3984375,
                        "z": 364.6921081542969
                    },
                    "rotation": {
                        "roll": 0.000717348710168153,
                        "pitch": 0.8128471374511719,
                        "yaw": 90.36060333251953
                    }
                },
                "velocity": {
                    "x": -0.018021110445261,
                    "y": 4.255897045135498,
                    "z": 0.04216363653540611
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4197657108306885,
                "transform": {
                    "location": {
                        "x": 2185.093017578125,
                        "y": 2463.579833984375,
                        "z": 364.8099670410156
                    },
                    "rotation": {
                        "roll": 0.004075465723872185,
                        "pitch": 0.47060683369636536,
                        "yaw": 90.4932632446289
                    }
                },
                "velocity": {
                    "x": -0.01764402538537979,
                    "y": 2.4195964336395264,
                    "z": 0.022525643929839134
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.840828895568848,
                "transform": {
                    "location": {
                        "x": 2185.0341796875,
                        "y": 2497.56298828125,
                        "z": 365.0587463378906
                    },
                    "rotation": {
                        "roll": 0.016217682510614395,
                        "pitch": 0.25438356399536133,
                        "yaw": 90.3386459350586
                    }
                },
                "velocity": {
                    "x": -0.02734982594847679,
                    "y": 5.840672969818115,
                    "z": 0.032821204513311386
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.35728120803833,
                "transform": {
                    "location": {
                        "x": 2185.034423828125,
                        "y": 2510.1220703125,
                        "z": 365.1233825683594
                    },
                    "rotation": {
                        "roll": 0.002177684335038066,
                        "pitch": 0.29049476981163025,
                        "yaw": 90.499267578125
                    }
                },
                "velocity": {
                    "x": -0.018849290907382965,
                    "y": 2.3571908473968506,
                    "z": 0.008397025987505913
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0038112797774374485,
        "expert_target_speed": 5.5974264273085605,
        "target_point": [
            38.10766975296212,
            -0.03468613482013438
        ],
        "target_point_next": [
            47.05742280842171,
            8.870243961717346
        ]
    },
    "60": {
        "acceleration": [
            0.008142199367284775,
            -3.4742259979248047,
            -0.04060991108417511
        ],
        "angular_velocity": [
            -1.041703224182129,
            -0.005115486215800047,
            -0.42522963881492615
        ],
        "forward_vector": [
            -0.002023832406848669,
            0.9999850988388062,
            0.005072213709354401
        ],
        "right_vector": [
            -0.9999979734420776,
            -0.0020238489378243685,
            -1.8731223008217057e-06
        ],
        "location": [
            2185.127685546875,
            2478.458740234375,
            364.93157958984375
        ],
        "rotation": [
            0.0001073233870556578,
            0.2906177043914795,
            90.11595916748047
        ],
        "velocity": [
            -0.008723714388906956,
            3.724030017852783,
            0.029328603297472
        ],
        "speed": 3.7240402356931295,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.83788299560547,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.02734375,
                2498.2958984375,
                365.0680847167969
            ],
            "velocity": [
                -0.0033208709210157394,
                0.021540146321058273,
                -0.00152585469186306
            ],
            "speed_kmh": 0.0786527353874319,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.138262748718262,
                "transform": {
                    "location": {
                        "x": 2187.94287109375,
                        "y": 2501.867431640625,
                        "z": 365.1194763183594
                    },
                    "rotation": {
                        "roll": 0.0010814637644216418,
                        "pitch": -0.27774280309677124,
                        "yaw": -89.77819061279297
                    }
                },
                "velocity": {
                    "x": 0.028636418282985687,
                    "y": -8.138104438781738,
                    "z": -0.041937172412872314
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001354687730781734,
                "transform": {
                    "location": {
                        "x": 2185.080322265625,
                        "y": 2452.80908203125,
                        "z": 364.69439697265625
                    },
                    "rotation": {
                        "roll": 0.0030769940931349993,
                        "pitch": 1.0610971450805664,
                        "yaw": 90.36148834228516
                    }
                },
                "velocity": {
                    "x": -0.00010653564822860062,
                    "y": -0.0013318335404619575,
                    "z": -0.00022371532395482063
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.341822385787964,
                "transform": {
                    "location": {
                        "x": 2185.08740234375,
                        "y": 2464.299560546875,
                        "z": 364.81689453125
                    },
                    "rotation": {
                        "roll": 0.0027762125246226788,
                        "pitch": 0.45485642552375793,
                        "yaw": 90.47138977050781
                    }
                },
                "velocity": {
                    "x": -0.024235136806964874,
                    "y": 3.3415920734405518,
                    "z": 0.030838927254080772
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.021847981959581375,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2498.2958984375,
                        "z": 365.0680847167969
                    },
                    "rotation": {
                        "roll": 0.014587847515940666,
                        "pitch": -1.2209372520446777,
                        "yaw": 90.0314712524414
                    }
                },
                "velocity": {
                    "x": -0.0033208709210157394,
                    "y": 0.021540146321058273,
                    "z": -0.00152585469186306
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00041356898145750165,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2510.431396484375,
                        "z": 365.1234436035156
                    },
                    "rotation": {
                        "roll": 0.0024248354602605104,
                        "pitch": 0.4195375144481659,
                        "yaw": 90.38892364501953
                    }
                },
                "velocity": {
                    "x": -0.00017495194333605468,
                    "y": -0.00017456445493735373,
                    "z": -0.00033159973099827766
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.005485196132212877,
        "expert_target_speed": 4.709514236858344,
        "target_point": [
            37.07275250078338,
            -0.03801727951689774
        ],
        "target_point_next": [
            46.02331442071507,
            8.866099807280433
        ]
    },
    "65": {
        "acceleration": [
            -0.0024521350860595703,
            0.24753570556640625,
            -0.0012725591659545898
        ],
        "angular_velocity": [
            0.654637336730957,
            0.008439693599939346,
            0.6642729043960571
        ],
        "forward_vector": [
            -0.002270603319630027,
            0.9999896883964539,
            0.003938902635127306
        ],
        "right_vector": [
            -0.9999974370002747,
            -0.0022705986630171537,
            -5.648936621582834e-06
        ],
        "location": [
            2185.1259765625,
            2479.30517578125,
            364.9384765625
        ],
        "rotation": [
            0.00032366273808293045,
            0.2256830930709839,
            90.13009643554688
        ],
        "velocity": [
            -0.008108451962471008,
            3.2633612155914307,
            0.0249885655939579
        ],
        "speed": 3.2633712890842816,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.139589309692383,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.02734375,
                2498.444091796875,
                365.0653076171875
            ],
            "velocity": [
                -0.0039560310542583466,
                1.119508147239685,
                0.00650055892765522
            ],
            "speed_kmh": 4.03032243541705,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.046826362609863,
                "transform": {
                    "location": {
                        "x": 2187.94970703125,
                        "y": 2499.8310546875,
                        "z": 365.109130859375
                    },
                    "rotation": {
                        "roll": 0.0024474409874528646,
                        "pitch": -0.2937937378883362,
                        "yaw": -89.83129119873047
                    }
                },
                "velocity": {
                    "x": 0.018378518521785736,
                    "y": -8.04670238494873,
                    "z": -0.04068106412887573
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.093591570854187,
                "transform": {
                    "location": {
                        "x": 2185.080322265625,
                        "y": 2452.962158203125,
                        "z": 364.69952392578125
                    },
                    "rotation": {
                        "roll": 0.00241237785667181,
                        "pitch": 0.6331380009651184,
                        "yaw": 90.38053131103516
                    }
                },
                "velocity": {
                    "x": -0.004007585346698761,
                    "y": 1.0935237407684326,
                    "z": 0.011492443270981312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.463007926940918,
                "transform": {
                    "location": {
                        "x": 2185.080078125,
                        "y": 2465.28125,
                        "z": 364.8263854980469
                    },
                    "rotation": {
                        "roll": 0.0034040494356304407,
                        "pitch": 0.425438791513443,
                        "yaw": 90.44981384277344
                    }
                },
                "velocity": {
                    "x": -0.032704949378967285,
                    "y": 4.462689399719238,
                    "z": 0.042123954743146896
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.1195340156555176,
                "transform": {
                    "location": {
                        "x": 2185.02734375,
                        "y": 2498.444091796875,
                        "z": 365.0653076171875
                    },
                    "rotation": {
                        "roll": 0.011480170302093029,
                        "pitch": -0.27279090881347656,
                        "yaw": 90.06156921386719
                    }
                },
                "velocity": {
                    "x": -0.0039560310542583466,
                    "y": 1.119508147239685,
                    "z": 0.00650055892765522
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006702180253341794,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2510.430419921875,
                        "z": 365.1249084472656
                    },
                    "rotation": {
                        "roll": 0.0022700296249240637,
                        "pitch": 0.2338656634092331,
                        "yaw": 90.38888549804688
                    }
                },
                "velocity": {
                    "x": -3.0757189506402938e-06,
                    "y": -0.0005850463057868183,
                    "z": -0.0003269610751885921
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.005604912992566824,
        "expert_target_speed": 4.271106398940535,
        "target_point": [
            36.22630454138922,
            -0.04711692577140186
        ],
        "target_point_next": [
            45.17910160023922,
            8.854752799234356
        ]
    },
    "70": {
        "acceleration": [
            -0.01856965944170952,
            4.6552276611328125,
            0.05890883505344391
        ],
        "angular_velocity": [
            1.546115756034851,
            -0.0059401593171060085,
            0.023524103686213493
        ],
        "forward_vector": [
            -0.0023762481287121773,
            0.9999504089355469,
            0.00967213325202465
        ],
        "right_vector": [
            -0.9999971985816956,
            -0.0023764469660818577,
            9.054782822204288e-06
        ],
        "location": [
            2185.123779296875,
            2480.2099609375,
            364.9440002441406
        ],
        "rotation": [
            -0.0005188251379877329,
            0.5541810393333435,
            90.13615417480469
        ],
        "velocity": [
            -0.010915766470134258,
            4.089188098907471,
            0.030505798757076263
        ],
        "speed": 4.089202668272157,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.652259826660156,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.026123046875,
                2498.861572265625,
                365.065185546875
            ],
            "velocity": [
                -0.007493794430047274,
                2.1324803829193115,
                0.010833787731826305
            ],
            "speed_kmh": 7.677075849850428,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.778076171875,
                        "y": 2575.275146484375,
                        "z": 365.0711364746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.7586975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 5.2182681287149535e-08,
                    "y": -1.1471541772056781e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8893846869468689,
                "transform": {
                    "location": {
                        "x": 2145.96875,
                        "y": 2524.5302734375,
                        "z": 364.7929992675781
                    },
                    "rotation": {
                        "roll": -0.00018310545419808477,
                        "pitch": 0.21717950701713562,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": -0.003365125972777605,
                    "y": -5.3708197810919955e-05,
                    "z": -0.8893783092498779
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8662201166152954,
                "transform": {
                    "location": {
                        "x": 2131.383056640625,
                        "y": 2524.5625,
                        "z": 364.8718566894531
                    },
                    "rotation": {
                        "roll": 0.00023669748043175787,
                        "pitch": 0.21799913048744202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": -0.0032772126141935587,
                    "y": 2.5962201107176952e-05,
                    "z": -0.8662139177322388
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.965548038482666,
                "transform": {
                    "location": {
                        "x": 2187.953857421875,
                        "y": 2497.839111328125,
                        "z": 365.09857177734375
                    },
                    "rotation": {
                        "roll": 0.001173370168544352,
                        "pitch": -0.32153114676475525,
                        "yaw": -89.86663818359375
                    }
                },
                "velocity": {
                    "x": 0.01713661104440689,
                    "y": -7.965396404266357,
                    "z": -0.0460859052836895
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9338364601135254,
                "transform": {
                    "location": {
                        "x": 2185.078125,
                        "y": 2453.342041015625,
                        "z": 364.7043151855469
                    },
                    "rotation": {
                        "roll": 0.0034499350003898144,
                        "pitch": 0.5448373556137085,
                        "yaw": 90.35735321044922
                    }
                },
                "velocity": {
                    "x": -0.0072572240605950356,
                    "y": 1.9337170124053955,
                    "z": 0.020232925191521645
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.26920747756958,
                "transform": {
                    "location": {
                        "x": 2185.0712890625,
                        "y": 2466.52392578125,
                        "z": 364.8382263183594
                    },
                    "rotation": {
                        "roll": 6.939778540981933e-05,
                        "pitch": 0.43527427315711975,
                        "yaw": 90.4180908203125
                    }
                },
                "velocity": {
                    "x": -0.024135494604706764,
                    "y": 5.268918991088867,
                    "z": 0.04958008602261543
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.132521152496338,
                "transform": {
                    "location": {
                        "x": 2185.026123046875,
                        "y": 2498.861572265625,
                        "z": 365.065185546875
                    },
                    "rotation": {
                        "roll": 0.004240786656737328,
                        "pitch": 0.40553563833236694,
                        "yaw": 90.15756225585938
                    }
                },
                "velocity": {
                    "x": -0.007493794430047274,
                    "y": 2.1324803829193115,
                    "z": 0.010833787731826305
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001703865418676287,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2510.43017578125,
                        "z": 365.1252136230469
                    },
                    "rotation": {
                        "roll": 0.0013046000385656953,
                        "pitch": 0.19168241322040558,
                        "yaw": 90.388916015625
                    }
                },
                "velocity": {
                    "x": -1.39950379889342e-05,
                    "y": -9.683256939752027e-05,
                    "z": 0.00013949611457064748
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.007741767447441816,
        "expert_target_speed": 5.040080265129493,
        "target_point": [
            35.32151040073041,
            -0.051779257977140294
        ],
        "target_point_next": [
            44.27544497740008,
            8.848946295293606
        ]
    },
    "75": {
        "acceleration": [
            -0.01579444855451584,
            4.536724090576172,
            0.08074015378952026
        ],
        "angular_velocity": [
            0.5990062952041626,
            0.00047100288793444633,
            0.13406293094158173
        ],
        "forward_vector": [
            -0.002597824204713106,
            0.9998950958251953,
            0.014247768558561802
        ],
        "right_vector": [
            -0.9999966025352478,
            -0.0025982095394283533,
            8.522066309524234e-06
        ],
        "location": [
            2185.120361328125,
            2481.3876953125,
            364.9519958496094
        ],
        "rotation": [
            -0.0004883279907517135,
            0.8163646459579468,
            90.14885711669922
        ],
        "velocity": [
            -0.014809448271989822,
            5.256539344787598,
            0.04125651344656944
        ],
        "speed": 5.256560206357209,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.97475242614746,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.02490234375,
                2499.36181640625,
                365.0685729980469
            ],
            "velocity": [
                4.63616379420273e-05,
                0.7441103458404541,
                0.003356990637257695
            ],
            "speed_kmh": 2.678824510687016,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.780517578125,
                        "y": 2573.19140625,
                        "z": 365.0768737792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.10987138003110886,
                "transform": {
                    "location": {
                        "x": 2236.93896484375,
                        "y": 2524.330322265625,
                        "z": 366.5209655761719
                    },
                    "rotation": {
                        "roll": 0.000518429558724165,
                        "pitch": -1.779236912727356,
                        "yaw": 179.87408447265625
                    }
                },
                "velocity": {
                    "x": -0.0032244136091321707,
                    "y": -0.0001782274921424687,
                    "z": 0.10982390493154526
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.12592864036560059,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7318420410156
                    },
                    "rotation": {
                        "roll": 0.0006442132289521396,
                        "pitch": -0.21826551854610443,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.00048581763985566795,
                    "y": 6.683900210191496e-06,
                    "z": 0.12592770159244537
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.09184955805540085,
                "transform": {
                    "location": {
                        "x": 2145.96875,
                        "y": 2524.5302734375,
                        "z": 364.75042724609375
                    },
                    "rotation": {
                        "roll": 0.00026079226518049836,
                        "pitch": 0.21682433784008026,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 0.0003485552442725748,
                    "y": -0.00011954038927797228,
                    "z": 0.09184881299734116
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.03166323900222778,
                "transform": {
                    "location": {
                        "x": 2131.383056640625,
                        "y": 2524.5625,
                        "z": 364.8124084472656
                    },
                    "rotation": {
                        "roll": 4.886221358901821e-05,
                        "pitch": 0.2176644504070282,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 0.00012622620852198452,
                    "y": -2.985603168781381e-05,
                    "z": 0.031662970781326294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0730619430542,
                "transform": {
                    "location": {
                        "x": 2187.957763671875,
                        "y": 2495.831787109375,
                        "z": 365.0870666503906
                    },
                    "rotation": {
                        "roll": 0.0015502539463341236,
                        "pitch": -0.34374290704727173,
                        "yaw": -89.87409210205078
                    }
                },
                "velocity": {
                    "x": 0.01791953481733799,
                    "y": -8.072905540466309,
                    "z": -0.04691305011510849
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0112595558166504,
                "transform": {
                    "location": {
                        "x": 2185.075927734375,
                        "y": 2453.877685546875,
                        "z": 364.7097473144531
                    },
                    "rotation": {
                        "roll": 0.0034836381673812866,
                        "pitch": 0.5957359075546265,
                        "yaw": 90.3240737915039
                    }
                },
                "velocity": {
                    "x": -0.00747751584276557,
                    "y": 2.011129140853882,
                    "z": 0.02165163867175579
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.731400489807129,
                "transform": {
                    "location": {
                        "x": 2185.06494140625,
                        "y": 2467.88720703125,
                        "z": 364.8504638671875
                    },
                    "rotation": {
                        "roll": 0.0006967554218135774,
                        "pitch": 0.4635649025440216,
                        "yaw": 90.3680419921875
                    }
                },
                "velocity": {
                    "x": -0.023286128416657448,
                    "y": 5.731115818023682,
                    "z": 0.052160099148750305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7441179156303406,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2499.36181640625,
                        "z": 365.0685729980469
                    },
                    "rotation": {
                        "roll": -0.001525880303233862,
                        "pitch": 0.17042003571987152,
                        "yaw": 90.33480072021484
                    }
                },
                "velocity": {
                    "x": 4.63616379420273e-05,
                    "y": 0.7441103458404541,
                    "z": 0.003356990637257695
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.952528120658826e-05,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2510.43017578125,
                        "z": 365.12530517578125
                    },
                    "rotation": {
                        "roll": 0.002087487606331706,
                        "pitch": 0.18612948060035706,
                        "yaw": 90.38890075683594
                    }
                },
                "velocity": {
                    "x": -2.3553297069156542e-05,
                    "y": -1.7412714441888966e-05,
                    "z": 3.712389116117265e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.008954321034252644,
        "expert_target_speed": 6.041517403201629,
        "target_point": [
            34.143760551244156,
            -0.0589248814881054
        ],
        "target_point_next": [
            43.09940113046433,
            8.84008414164207
        ]
    },
    "80": {
        "acceleration": [
            -0.03364630043506622,
            0.01262664794921875,
            -0.01838207244873047
        ],
        "angular_velocity": [
            -0.83939528465271,
            -0.014987662434577942,
            -3.362190008163452
        ],
        "forward_vector": [
            -0.0041559068486094475,
            0.9999342560768127,
            0.010688815265893936
        ],
        "right_vector": [
            -0.9999913573265076,
            -0.004157647490501404,
            0.00014060734247323126
        ],
        "location": [
            2185.1162109375,
            2482.713134765625,
            364.9625549316406
        ],
        "rotation": [
            -0.008056667633354664,
            0.6124356985092163,
            90.23812866210938
        ],
        "velocity": [
            -0.02280225045979023,
            5.2977447509765625,
            0.03794609010219574
        ],
        "speed": 5.29779382282151,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.786720275878906,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.02490234375,
                2499.499267578125,
                365.0693359375
            ],
            "velocity": [
                -0.003747266950085759,
                1.0391457080841064,
                0.005422982852905989
            ],
            "speed_kmh": 3.7409998133966527,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782470703125,
                        "y": 2571.107421875,
                        "z": 365.082763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.0038028955459595,
                "transform": {
                    "location": {
                        "x": 2236.873779296875,
                        "y": 2524.32958984375,
                        "z": 366.5506286621094
                    },
                    "rotation": {
                        "roll": -0.00878906436264515,
                        "pitch": -1.607846975326538,
                        "yaw": 179.9288787841797
                    }
                },
                "velocity": {
                    "x": -1.0026947259902954,
                    "y": -0.010727542452514172,
                    "z": 0.04591931402683258
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13824304938316345,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.78466796875
                    },
                    "rotation": {
                        "roll": 0.0010418713791295886,
                        "pitch": -0.21771226823329926,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.0005343680968508124,
                    "y": -2.217336259491276e-05,
                    "z": 0.13824200630187988
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.03234832361340523,
                "transform": {
                    "location": {
                        "x": 2145.96875,
                        "y": 2524.5302734375,
                        "z": 364.76788330078125
                    },
                    "rotation": {
                        "roll": -0.0003967284574173391,
                        "pitch": 0.21693362295627594,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 0.00014515392831526697,
                    "y": 0.00011764647206291556,
                    "z": 0.03234778344631195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.02750510536134243,
                "transform": {
                    "location": {
                        "x": 2131.383056640625,
                        "y": 2524.5625,
                        "z": 364.8232727050781
                    },
                    "rotation": {
                        "roll": 0.0005187960341572762,
                        "pitch": 0.2176303118467331,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 0.00010243773431284353,
                    "y": 0.0001552231697132811,
                    "z": 0.02750447764992714
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.031974792480469,
                "transform": {
                    "location": {
                        "x": 2187.9619140625,
                        "y": 2493.81640625,
                        "z": 365.0747985839844
                    },
                    "rotation": {
                        "roll": 0.0015868621412664652,
                        "pitch": -0.3556274473667145,
                        "yaw": -89.89764404296875
                    }
                },
                "velocity": {
                    "x": 0.01197839342057705,
                    "y": -8.031815528869629,
                    "z": -0.0491885207593441
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5955846905708313,
                "transform": {
                    "location": {
                        "x": 2185.07470703125,
                        "y": 2454.075439453125,
                        "z": 364.7106628417969
                    },
                    "rotation": {
                        "roll": 0.003113066079095006,
                        "pitch": 0.7417448163032532,
                        "yaw": 90.28182220458984
                    }
                },
                "velocity": {
                    "x": -0.0006351806223392487,
                    "y": 0.5955443382263184,
                    "z": 0.006901903077960014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.232826232910156,
                "transform": {
                    "location": {
                        "x": 2185.05859375,
                        "y": 2469.37548828125,
                        "z": 364.8638610839844
                    },
                    "rotation": {
                        "roll": 0.0012562877964228392,
                        "pitch": 0.4575953185558319,
                        "yaw": 90.30348205566406
                    }
                },
                "velocity": {
                    "x": -0.02295699343085289,
                    "y": 6.232553005218506,
                    "z": 0.053714215755462646
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.0391666889190674,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2499.499267578125,
                        "z": 365.0693359375
                    },
                    "rotation": {
                        "roll": -0.00027465587481856346,
                        "pitch": 0.1462821513414383,
                        "yaw": 90.3212890625
                    }
                },
                "velocity": {
                    "x": -0.003747266950085759,
                    "y": 1.0391457080841064,
                    "z": 0.005422982852905989
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6227486159768887e-05,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2510.43017578125,
                        "z": 365.12530517578125
                    },
                    "rotation": {
                        "roll": 0.002087487606331706,
                        "pitch": 0.18612948060035706,
                        "yaw": 90.38890075683594
                    }
                },
                "velocity": {
                    "x": -2.053233174592606e-06,
                    "y": -4.5407563220578595e-07,
                    "z": -2.6143050490645692e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.01754319667816162,
        "expert_target_speed": 6.026028024469296,
        "target_point": [
            32.81817868207194,
            -0.11176942303612633
        ],
        "target_point_next": [
            41.787940532934265,
            8.773005876133919
        ]
    },
    "85": {
        "acceleration": [
            0.014277733862400055,
            -0.32749176025390625,
            0.017741769552230835
        ],
        "angular_velocity": [
            -0.5756065249443054,
            -0.015506342984735966,
            3.336261749267578
        ],
        "forward_vector": [
            -0.0038054236210882664,
            0.9999275803565979,
            0.01141821313649416
        ],
        "right_vector": [
            -0.9999927878379822,
            -0.003805890679359436,
            1.9172670363332145e-05
        ],
        "location": [
            2185.1103515625,
            2484.1259765625,
            364.9723815917969
        ],
        "rotation": [
            -0.0010985847329720855,
            0.6542296409606934,
            90.21804809570312
        ],
        "velocity": [
            -0.02358124405145645,
            5.879159450531006,
            0.041563376784324646
        ],
        "speed": 5.87920674239638,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.747369766235352,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.023193359375,
                2499.872802734375,
                365.0699157714844
            ],
            "velocity": [
                -0.007166668772697449,
                1.9145809412002563,
                0.009220876730978489
            ],
            "speed_kmh": 6.892619610631834,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.784912109375,
                        "y": 2569.023681640625,
                        "z": 365.0933837890625
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.4689528942108154,
                "transform": {
                    "location": {
                        "x": 2236.43017578125,
                        "y": 2524.32568359375,
                        "z": 366.5462951660156
                    },
                    "rotation": {
                        "roll": -0.006713866721838713,
                        "pitch": -1.4860783815383911,
                        "yaw": -179.91551208496094
                    }
                },
                "velocity": {
                    "x": -2.4681410789489746,
                    "y": -0.013079728931188583,
                    "z": -0.061941973865032196
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9293608665466309,
                "transform": {
                    "location": {
                        "x": 2136.041748046875,
                        "y": 2527.302978515625,
                        "z": 364.7977600097656
                    },
                    "rotation": {
                        "roll": -0.000762939453125,
                        "pitch": -0.1940934807062149,
                        "yaw": -0.09991455078125
                    }
                },
                "velocity": {
                    "x": 0.9292864799499512,
                    "y": 0.010653134435415268,
                    "z": 0.0049768066965043545
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8135528564453125,
                "transform": {
                    "location": {
                        "x": 2145.835693359375,
                        "y": 2524.529052734375,
                        "z": 364.7723693847656
                    },
                    "rotation": {
                        "roll": 0.004419349599629641,
                        "pitch": 0.06409449130296707,
                        "yaw": 179.93455505371094
                    }
                },
                "velocity": {
                    "x": -1.813446044921875,
                    "y": -0.018505966290831566,
                    "z": 0.006696910597383976
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4254992604255676,
                "transform": {
                    "location": {
                        "x": 2131.37646484375,
                        "y": 2524.5625,
                        "z": 364.8260803222656
                    },
                    "rotation": {
                        "roll": 0.00042437881347723305,
                        "pitch": 0.2021462619304657,
                        "yaw": 179.8849334716797
                    }
                },
                "velocity": {
                    "x": -0.4254920184612274,
                    "y": 0.0003604391240514815,
                    "z": 0.0024562454782426357
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.997611045837402,
                "transform": {
                    "location": {
                        "x": 2187.96533203125,
                        "y": 2491.81689453125,
                        "z": 365.0623779296875
                    },
                    "rotation": {
                        "roll": 0.001719640800729394,
                        "pitch": -0.3602924644947052,
                        "yaw": -89.91153717041016
                    }
                },
                "velocity": {
                    "x": 0.012435042299330235,
                    "y": -7.99744176864624,
                    "z": -0.0504896342754364
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4915671348571777,
                "transform": {
                    "location": {
                        "x": 2185.07373046875,
                        "y": 2454.335693359375,
                        "z": 364.7150573730469
                    },
                    "rotation": {
                        "roll": 0.002373815281316638,
                        "pitch": 0.5545908212661743,
                        "yaw": 90.25605773925781
                    }
                },
                "velocity": {
                    "x": -0.005623465869575739,
                    "y": 1.491479516029358,
                    "z": 0.01515601109713316
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.335465431213379,
                "transform": {
                    "location": {
                        "x": 2185.05224609375,
                        "y": 2470.832763671875,
                        "z": 364.8757019042969
                    },
                    "rotation": {
                        "roll": 0.0027422874700278044,
                        "pitch": 0.5508069396018982,
                        "yaw": 90.2530288696289
                    }
                },
                "velocity": {
                    "x": -0.01998482272028923,
                    "y": 5.335222244262695,
                    "z": 0.04690232127904892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.914616584777832,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2499.872802734375,
                        "z": 365.0699157714844
                    },
                    "rotation": {
                        "roll": 0.0006949452799744904,
                        "pitch": 0.50449138879776,
                        "yaw": 90.28507995605469
                    }
                },
                "velocity": {
                    "x": -0.007166668772697449,
                    "y": 1.9145809412002563,
                    "z": 0.009220876730978489
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004112750757485628,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2510.43017578125,
                        "z": 365.12530517578125
                    },
                    "rotation": {
                        "roll": 0.0022284737788140774,
                        "pitch": 0.18151909112930298,
                        "yaw": 90.38890838623047
                    }
                },
                "velocity": {
                    "x": -1.2717434401565697e-05,
                    "y": -5.231424893281655e-07,
                    "z": 0.0004110780719202012
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.020572777837514877,
        "expert_target_speed": 6.469131816145574,
        "target_point": [
            31.405364311906723,
            -0.09999389442321939
        ],
        "target_point_next": [
            40.37180404870688,
            8.788134042564328
        ]
    },
    "90": {
        "acceleration": [
            0.013451389968395233,
            -1.6727638244628906,
            0.00300772488117218
        ],
        "angular_velocity": [
            -0.8463876843452454,
            -0.003249795874580741,
            -3.126077890396118
        ],
        "forward_vector": [
            -0.00345893413759768,
            0.9999710917472839,
            0.006774254143238068
        ],
        "right_vector": [
            -0.9999940395355225,
            -0.003458965104073286,
            -7.155816547310678e-06
        ],
        "location": [
            2185.104248046875,
            2485.54248046875,
            364.9830627441406
        ],
        "rotation": [
            0.00041000748751685023,
            0.38813912868499756,
            90.19818878173828
        ],
        "velocity": [
            -0.021225282922387123,
            5.457546234130859,
            0.03737332299351692
        ],
        "speed": 5.457587508259585,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.861344337463379,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.02099609375,
                2500.4033203125,
                365.0728759765625
            ],
            "velocity": [
                -0.007396970875561237,
                1.81783926486969,
                0.008717775344848633
            ],
            "speed_kmh": 6.5443507842737505,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.786865234375,
                        "y": 2566.93994140625,
                        "z": 365.1038513183594
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.056538105010986,
                "transform": {
                    "location": {
                        "x": 2235.607177734375,
                        "y": 2524.32080078125,
                        "z": 366.5225830078125
                    },
                    "rotation": {
                        "roll": -0.01361083798110485,
                        "pitch": -1.444359540939331,
                        "yaw": -179.80810546875
                    }
                },
                "velocity": {
                    "x": -4.054633140563965,
                    "y": -0.025097040459513664,
                    "z": -0.12173479795455933
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6303657293319702,
                "transform": {
                    "location": {
                        "x": 2136.3759765625,
                        "y": 2527.30517578125,
                        "z": 364.7961730957031
                    },
                    "rotation": {
                        "roll": -0.00225830078125,
                        "pitch": -0.18851320445537567,
                        "yaw": 0.08267681300640106
                    }
                },
                "velocity": {
                    "x": 1.6302192211151123,
                    "y": 0.019329216331243515,
                    "z": -0.010210981592535973
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.119518756866455,
                "transform": {
                    "location": {
                        "x": 2145.1923828125,
                        "y": 2524.52392578125,
                        "z": 364.7745361328125
                    },
                    "rotation": {
                        "roll": 0.0038076823111623526,
                        "pitch": 0.060406189411878586,
                        "yaw": -179.89691162109375
                    }
                },
                "velocity": {
                    "x": -3.119342088699341,
                    "y": -0.03150123357772827,
                    "z": 0.010439405217766762
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6976447105407715,
                "transform": {
                    "location": {
                        "x": 2130.90673828125,
                        "y": 2524.5595703125,
                        "z": 364.8291320800781
                    },
                    "rotation": {
                        "roll": 0.005120753310620785,
                        "pitch": 0.024704793468117714,
                        "yaw": -179.9612274169922
                    }
                },
                "velocity": {
                    "x": -2.6975033283233643,
                    "y": -0.025821933522820473,
                    "z": 0.009782847948372364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.072227478027344,
                "transform": {
                    "location": {
                        "x": 2187.967529296875,
                        "y": 2489.8056640625,
                        "z": 365.0496826171875
                    },
                    "rotation": {
                        "roll": 0.0012726427521556616,
                        "pitch": -0.36956101655960083,
                        "yaw": -89.92265319824219
                    }
                },
                "velocity": {
                    "x": 0.010782822966575623,
                    "y": -8.072049140930176,
                    "z": -0.05263647064566612
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.327976703643799,
                "transform": {
                    "location": {
                        "x": 2185.07177734375,
                        "y": 2454.8173828125,
                        "z": 364.7204284667969
                    },
                    "rotation": {
                        "roll": 0.0021047722548246384,
                        "pitch": 0.5207404494285583,
                        "yaw": 90.248046875
                    }
                },
                "velocity": {
                    "x": -0.00834034476429224,
                    "y": 2.3278253078460693,
                    "z": 0.025211447849869728
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.155200481414795,
                "transform": {
                    "location": {
                        "x": 2185.0478515625,
                        "y": 2472.122802734375,
                        "z": 364.8870544433594
                    },
                    "rotation": {
                        "roll": 0.00044880982022732496,
                        "pitch": 0.5187869668006897,
                        "yaw": 90.21206665039062
                    }
                },
                "velocity": {
                    "x": -0.01237734779715538,
                    "y": 5.154994487762451,
                    "z": 0.04437343403697014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8178752660751343,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2500.4033203125,
                        "z": 365.0728759765625
                    },
                    "rotation": {
                        "roll": 0.000963886734098196,
                        "pitch": 0.44997283816337585,
                        "yaw": 90.29283142089844
                    }
                },
                "velocity": {
                    "x": -0.007396970875561237,
                    "y": 1.81783926486969,
                    "z": 0.008717775344848633
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021643088257405907,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2510.43017578125,
                        "z": 365.12530517578125
                    },
                    "rotation": {
                        "roll": 0.002285156399011612,
                        "pitch": 0.1815395951271057,
                        "yaw": 90.38890838623047
                    }
                },
                "velocity": {
                    "x": 1.7458828551752958e-06,
                    "y": 7.041916205707821e-07,
                    "z": -0.0002164226898457855
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.025043316185474396,
        "expert_target_speed": 6.046760249025528,
        "target_point": [
            29.988878868821626,
            -0.09087909657077596
        ],
        "target_point_next": [
            38.95240224867217,
            8.800189927837925
        ]
    },
    "95": {
        "acceleration": [
            0.04064876586198807,
            -7.653331756591797,
            -0.012985430657863617
        ],
        "angular_velocity": [
            -1.944535493850708,
            -0.017315292730927467,
            0.13679420948028564
        ],
        "forward_vector": [
            -0.0040742396377027035,
            0.9999895095825195,
            0.0020972471684217453
        ],
        "right_vector": [
            -0.9999917149543762,
            -0.0040742321871221066,
            -7.66851007938385e-06
        ],
        "location": [
            2185.0986328125,
            2486.8193359375,
            364.9924011230469
        ],
        "rotation": [
            0.00043937424197793007,
            0.12016350775957108,
            90.23343658447266
        ],
        "velocity": [
            -0.019108541309833527,
            4.421260356903076,
            0.02759133279323578
        ],
        "speed": 4.421301649952614,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.635723114013672,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.021728515625,
                2500.45458984375,
                365.07537841796875
            ],
            "velocity": [
                4.693805749411695e-05,
                -0.003910519182682037,
                0.00010954645404126495
            ],
            "speed_kmh": 0.014084405416951844,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.7890625,
                        "y": 2564.855712890625,
                        "z": 365.1134338378906
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.472289562225342,
                "transform": {
                    "location": {
                        "x": 2234.40380859375,
                        "y": 2524.31298828125,
                        "z": 366.486328125
                    },
                    "rotation": {
                        "roll": -0.0180053673684597,
                        "pitch": -1.45852530002594,
                        "yaw": -179.69215393066406
                    }
                },
                "velocity": {
                    "x": -5.469646453857422,
                    "y": -0.037662286311388016,
                    "z": -0.16583259403705597
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.20308518409729,
                "transform": {
                    "location": {
                        "x": 2136.85986328125,
                        "y": 2527.3095703125,
                        "z": 364.7939758300781
                    },
                    "rotation": {
                        "roll": -0.0030517573468387127,
                        "pitch": -0.19827355444431305,
                        "yaw": 0.22574616968631744
                    }
                },
                "velocity": {
                    "x": 2.2028870582580566,
                    "y": 0.027796931564807892,
                    "z": -0.010050944983959198
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.2368998527526855,
                "transform": {
                    "location": {
                        "x": 2144.268798828125,
                        "y": 2524.51611328125,
                        "z": 364.7776794433594
                    },
                    "rotation": {
                        "roll": 0.0030204157810658216,
                        "pitch": 0.09840252995491028,
                        "yaw": -179.71939086914062
                    }
                },
                "velocity": {
                    "x": -4.2366485595703125,
                    "y": -0.04345075413584709,
                    "z": 0.015514945611357689
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1674282550811768,
                "transform": {
                    "location": {
                        "x": 2130.1240234375,
                        "y": 2524.553466796875,
                        "z": 364.83111572265625
                    },
                    "rotation": {
                        "roll": 0.002730476902797818,
                        "pitch": 0.1370682269334793,
                        "yaw": -179.78994750976562
                    }
                },
                "velocity": {
                    "x": -3.1672494411468506,
                    "y": -0.031299009919166565,
                    "z": 0.012399749830365181
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.997540473937988,
                "transform": {
                    "location": {
                        "x": 2187.96923828125,
                        "y": 2487.7978515625,
                        "z": 365.03668212890625
                    },
                    "rotation": {
                        "roll": 0.00043031107634305954,
                        "pitch": -0.37432166934013367,
                        "yaw": -89.92705535888672
                    }
                },
                "velocity": {
                    "x": 0.01017910335212946,
                    "y": -7.997365951538086,
                    "z": -0.05186648666858673
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2723302841186523,
                "transform": {
                    "location": {
                        "x": 2185.069091796875,
                        "y": 2455.51904296875,
                        "z": 364.72808837890625
                    },
                    "rotation": {
                        "roll": 0.0031324331648647785,
                        "pitch": 0.5112396478652954,
                        "yaw": 90.24063873291016
                    }
                },
                "velocity": {
                    "x": -0.012499038130044937,
                    "y": 3.2721266746520996,
                    "z": 0.03430474177002907
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.919553279876709,
                "transform": {
                    "location": {
                        "x": 2185.044921875,
                        "y": 2473.362548828125,
                        "z": 364.89739990234375
                    },
                    "rotation": {
                        "roll": 0.0016824277117848396,
                        "pitch": 0.5106180906295776,
                        "yaw": 90.17247009277344
                    }
                },
                "velocity": {
                    "x": -0.011528572998940945,
                    "y": 4.919364929199219,
                    "z": 0.04144499823451042
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00391233479604125,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2500.45458984375,
                        "z": 365.07537841796875
                    },
                    "rotation": {
                        "roll": -0.002777095651254058,
                        "pitch": -0.1560015082359314,
                        "yaw": 90.4158706665039
                    }
                },
                "velocity": {
                    "x": 4.693805749411695e-05,
                    "y": -0.003910519182682037,
                    "z": 0.00010954645404126495
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004939208156429231,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2510.43017578125,
                        "z": 365.1253356933594
                    },
                    "rotation": {
                        "roll": 0.00255831191316247,
                        "pitch": 0.1813073605298996,
                        "yaw": 90.38890838623047
                    }
                },
                "velocity": {
                    "x": 1.5819572581676766e-05,
                    "y": -3.6431104035727913e-06,
                    "z": -0.0004936539917252958
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.034314610064029694,
        "expert_target_speed": 4.990548946826374,
        "target_point": [
            28.711951107080182,
            -0.10931416184091589
        ],
        "target_point_next": [
            37.68081475481962,
            8.776367840469614
        ]
    },
    "100": {
        "acceleration": [
            -0.0018978863954544067,
            -0.19572734832763672,
            0.005986988544464111
        ],
        "angular_velocity": [
            0.9439685940742493,
            0.027818622067570686,
            0.4908626079559326
        ],
        "forward_vector": [
            -0.0043291146866977215,
            0.9999904036521912,
            0.0006887911586090922
        ],
        "right_vector": [
            -0.9999906420707703,
            -0.004329112824052572,
            -4.1541056816640776e-06
        ],
        "location": [
            2185.094970703125,
            2487.807373046875,
            364.9992370605469
        ],
        "rotation": [
            0.00023801278439350426,
            0.03946483135223389,
            90.24803924560547
        ],
        "velocity": [
            -0.017265578731894493,
            3.803288221359253,
            0.02534915879368782
        ],
        "speed": 3.803327410957276,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.649361610412598,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.021728515625,
                2500.456298828125,
                365.0743408203125
            ],
            "velocity": [
                0.0002259047032566741,
                -0.0024932282976806164,
                0.0008677647565491498
            ],
            "speed_kmh": 0.009538462032117603,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.791259765625,
                        "y": 2562.819580078125,
                        "z": 365.121826171875
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 5.632672309875488,
                "transform": {
                    "location": {
                        "x": 2233.028076171875,
                        "y": 2524.302978515625,
                        "z": 366.4441223144531
                    },
                    "rotation": {
                        "roll": -0.0195312462747097,
                        "pitch": -1.6465126276016235,
                        "yaw": -179.62005615234375
                    }
                },
                "velocity": {
                    "x": -5.6298723220825195,
                    "y": -0.04146960750222206,
                    "z": -0.17265889048576355
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.752347469329834,
                "transform": {
                    "location": {
                        "x": 2137.48193359375,
                        "y": 2527.316162109375,
                        "z": 364.79156494140625
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.1990043818950653,
                        "yaw": 0.37996408343315125
                    }
                },
                "velocity": {
                    "x": 2.75209903717041,
                    "y": 0.03569646552205086,
                    "z": -0.009666385129094124
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.226415634155273,
                "transform": {
                    "location": {
                        "x": 2143.068603515625,
                        "y": 2524.5048828125,
                        "z": 364.7823791503906
                    },
                    "rotation": {
                        "roll": 0.003922098316252232,
                        "pitch": 0.11021875590085983,
                        "yaw": -179.57728576660156
                    }
                },
                "velocity": {
                    "x": -5.226097106933594,
                    "y": -0.053804367780685425,
                    "z": 0.02084466814994812
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.051729917526245,
                "transform": {
                    "location": {
                        "x": 2129.474853515625,
                        "y": 2524.5478515625,
                        "z": 364.83221435546875
                    },
                    "rotation": {
                        "roll": 0.001164478249847889,
                        "pitch": 0.29861584305763245,
                        "yaw": -179.70327758789062
                    }
                },
                "velocity": {
                    "x": -2.051609516143799,
                    "y": -0.020195970311760902,
                    "z": 0.009288549423217773
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052779197692871,
                "transform": {
                    "location": {
                        "x": 2187.97119140625,
                        "y": 2485.792236328125,
                        "z": 365.0231628417969
                    },
                    "rotation": {
                        "roll": 0.00114484375808388,
                        "pitch": -0.39192989468574524,
                        "yaw": -89.9275894165039
                    }
                },
                "velocity": {
                    "x": 0.010212510824203491,
                    "y": -8.052577018737793,
                    "z": -0.05616427958011627
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.375370979309082,
                "transform": {
                    "location": {
                        "x": 2185.065185546875,
                        "y": 2456.478759765625,
                        "z": 364.7383117675781
                    },
                    "rotation": {
                        "roll": 0.0006341107073239982,
                        "pitch": 0.4956326484680176,
                        "yaw": 90.2232894897461
                    }
                },
                "velocity": {
                    "x": -0.008609541691839695,
                    "y": 4.375120639801025,
                    "z": 0.046000536531209946
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.359339714050293,
                "transform": {
                    "location": {
                        "x": 2185.041259765625,
                        "y": 2474.652099609375,
                        "z": 364.9090270996094
                    },
                    "rotation": {
                        "roll": 0.0015989281237125397,
                        "pitch": 0.45471981167793274,
                        "yaw": 90.14815521240234
                    }
                },
                "velocity": {
                    "x": -0.013550660572946072,
                    "y": 5.359155654907227,
                    "z": 0.042289674282073975
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0026495729107409716,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2500.456298828125,
                        "z": 365.0743408203125
                    },
                    "rotation": {
                        "roll": 0.0006089688977226615,
                        "pitch": 0.1263653188943863,
                        "yaw": 90.41582489013672
                    }
                },
                "velocity": {
                    "x": 0.0002259047032566741,
                    "y": -0.0024932282976806164,
                    "z": 0.0008677647565491498
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005344320088624954,
                "transform": {
                    "location": {
                        "x": 2185.031494140625,
                        "y": 2510.43017578125,
                        "z": 365.12530517578125
                    },
                    "rotation": {
                        "roll": 0.002289298688992858,
                        "pitch": 0.1817171722650528,
                        "yaw": 90.38890838623047
                    }
                },
                "velocity": {
                    "x": 1.2328488082857803e-05,
                    "y": -1.4763846593268681e-05,
                    "z": -0.0005340857896953821
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.033292002975940704,
        "expert_target_speed": 4.3290161894188035,
        "target_point": [
            27.72387852410647,
            -0.1160399081811329
        ],
        "target_point_next": [
            36.695012923400306,
            8.767349499456824
        ]
    },
    "105": {
        "acceleration": [
            0.005675815045833588,
            -1.4135551452636719,
            -0.0033977627754211426
        ],
        "angular_velocity": [
            0.18202713131904602,
            -0.011306150816380978,
            -0.43906402587890625
        ],
        "forward_vector": [
            -0.004420149140059948,
            0.9999808073043823,
            0.00434254202991724
        ],
        "right_vector": [
            -0.9999902248382568,
            -0.004420058336108923,
            -3.043724973395001e-05
        ],
        "location": [
            2185.091064453125,
            2488.764892578125,
            365.0046691894531
        ],
        "rotation": [
            0.0017439423827454448,
            0.24881011247634888,
            90.25325775146484
        ],
        "velocity": [
            -0.017807452008128166,
            3.7588350772857666,
            0.025159768760204315
        ],
        "speed": 3.7588772583819385,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.692548751831055,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.021728515625,
                2500.45703125,
                365.0738830566406
            ],
            "velocity": [
                2.3289543605642393e-05,
                -0.0008640487212687731,
                0.0009928299114108086
            ],
            "speed_kmh": 0.004738937266743656,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85969,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.43695068359375
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.793212890625,
                        "y": 2560.878173828125,
                        "z": 365.1296691894531
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.778523921966553,
                "transform": {
                    "location": {
                        "x": 2231.385009765625,
                        "y": 2524.29052734375,
                        "z": 366.3938903808594
                    },
                    "rotation": {
                        "roll": -0.0188598595559597,
                        "pitch": -1.388672947883606,
                        "yaw": -179.5801544189453
                    }
                },
                "velocity": {
                    "x": -7.774616718292236,
                    "y": -0.059890639036893845,
                    "z": -0.23913973569869995
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.3730556964874268,
                "transform": {
                    "location": {
                        "x": 2138.248046875,
                        "y": 2527.322998046875,
                        "z": 364.7886657714844
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": -0.19793887436389923,
                        "yaw": 0.44353291392326355
                    }
                },
                "velocity": {
                    "x": 3.37296724319458,
                    "y": 0.021590564399957657,
                    "z": -0.011450080201029778
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.662895202636719,
                "transform": {
                    "location": {
                        "x": 2141.7255859375,
                        "y": 2524.49462890625,
                        "z": 364.78704833984375
                    },
                    "rotation": {
                        "roll": -0.005340574774891138,
                        "pitch": 0.1615954339504242,
                        "yaw": -179.6586151123047
                    }
                },
                "velocity": {
                    "x": -5.662805080413818,
                    "y": -0.023479392752051353,
                    "z": 0.0217021182179451
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011917640222236514,
                "transform": {
                    "location": {
                        "x": 2129.315185546875,
                        "y": 2524.54638671875,
                        "z": 364.8320617675781
                    },
                    "rotation": {
                        "roll": 0.0012809348991140723,
                        "pitch": 0.4066762626171112,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 0.0010302131995558739,
                    "y": -1.865360900410451e-05,
                    "z": 0.0005988439661450684
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01727294921875,
                "transform": {
                    "location": {
                        "x": 2187.973388671875,
                        "y": 2483.782958984375,
                        "z": 365.0091857910156
                    },
                    "rotation": {
                        "roll": -0.00021362239203881472,
                        "pitch": -0.41409385204315186,
                        "yaw": -89.92571258544922
                    }
                },
                "velocity": {
                    "x": 0.011749033816158772,
                    "y": -8.01706314086914,
                    "z": -0.05680827051401138
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.282920837402344,
                "transform": {
                    "location": {
                        "x": 2185.062255859375,
                        "y": 2457.7060546875,
                        "z": 364.75146484375
                    },
                    "rotation": {
                        "roll": 0.000728804268874228,
                        "pitch": 0.5063150525093079,
                        "yaw": 90.18248748779297
                    }
                },
                "velocity": {
                    "x": -0.012248980812728405,
                    "y": 5.2826080322265625,
                    "z": 0.05616103857755661
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.604649543762207,
                "transform": {
                    "location": {
                        "x": 2185.038330078125,
                        "y": 2476.04833984375,
                        "z": 364.9203186035156
                    },
                    "rotation": {
                        "roll": 0.0010462747886776924,
                        "pitch": 0.4233282804489136,
                        "yaw": 90.09320831298828
                    }
                },
                "velocity": {
                    "x": -0.011016057804226875,
                    "y": 5.604466438293457,
                    "z": 0.04394780844449997
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0013163714902475476,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2500.45703125,
                        "z": 365.0738830566406
                    },
                    "rotation": {
                        "roll": 4.4890224671689793e-05,
                        "pitch": 0.244807630777359,
                        "yaw": 90.41582489013672
                    }
                },
                "velocity": {
                    "x": 2.3289543605642393e-05,
                    "y": -0.0008640487212687731,
                    "z": 0.0009928299114108086
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2126867175102234,
                "transform": {
                    "location": {
                        "x": 2185.03125,
                        "y": 2510.4443359375,
                        "z": 365.12542724609375
                    },
                    "rotation": {
                        "roll": 0.0015742519171908498,
                        "pitch": 0.16747622191905975,
                        "yaw": 90.37389373779297
                    }
                },
                "velocity": {
                    "x": -0.002898224163800478,
                    "y": 0.21266409754753113,
                    "z": 0.0011047268053516746
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.035946328192949295,
        "expert_target_speed": 4.113844376927806,
        "target_point": [
            26.76634149457245,
            -0.11799237923000548
        ],
        "target_point_next": [
            35.73820232589043,
            8.76466336110969
        ]
    },
    "110": {
        "acceleration": [
            0.013490822166204453,
            -2.9439210891723633,
            -0.0036254897713661194
        ],
        "angular_velocity": [
            -0.4535134434700012,
            -0.06538570672273636,
            0.7161068320274353
        ],
        "forward_vector": [
            -0.004676231648772955,
            0.9999852776527405,
            0.0027618370950222015
        ],
        "right_vector": [
            -0.9999890923500061,
            -0.00467616505920887,
            -3.0564144253730774e-05
        ],
        "location": [
            2185.087158203125,
            2489.61865234375,
            365.0105285644531
        ],
        "rotation": [
            0.0017512030899524689,
            0.15824180841445923,
            90.26792907714844
        ],
        "velocity": [
            -0.015025458298623562,
            3.0717310905456543,
            0.02062642015516758
        ],
        "speed": 3.071767839049995,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.839249610900879,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.021728515625,
                2500.45751953125,
                365.07379150390625
            ],
            "velocity": [
                -0.00010572504106676206,
                -0.0002958072000183165,
                2.28633543883916e-05
            ],
            "speed_kmh": 0.0011338709461716254,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19091796875,
                        "z": 364.8669738769531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6687096357345581,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -3.2753851714195648e-12,
                    "y": 3.107571311389279e-09,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85969,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.779052734375,
                        "y": 2574.572021484375,
                        "z": 365.0730895996094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.048776626586914,
                "transform": {
                    "location": {
                        "x": 2187.796142578125,
                        "y": 2559.0634765625,
                        "z": 365.1359558105469
                    },
                    "rotation": {
                        "roll": -0.008911135606467724,
                        "pitch": -0.057797059416770935,
                        "yaw": -89.9232177734375
                    }
                },
                "velocity": {
                    "x": 0.02241687662899494,
                    "y": -6.04872465133667,
                    "z": 0.01129939965903759
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.351970672607422,
                "transform": {
                    "location": {
                        "x": 2229.30078125,
                        "y": 2524.281494140625,
                        "z": 366.3291320800781
                    },
                    "rotation": {
                        "roll": 0.0005614629480987787,
                        "pitch": -1.6214594841003418,
                        "yaw": -179.73646545410156
                    }
                },
                "velocity": {
                    "x": -8.34787654876709,
                    "y": -0.029807988554239273,
                    "z": -0.2597908079624176
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.170218467712402,
                "transform": {
                    "location": {
                        "x": 2139.190185546875,
                        "y": 2527.329345703125,
                        "z": 364.7850341796875
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": -0.1925635188817978,
                        "yaw": 0.3985233008861542
                    }
                },
                "velocity": {
                    "x": 4.1701226234436035,
                    "y": 0.024052901193499565,
                    "z": -0.014823446050286293
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.813347339630127,
                "transform": {
                    "location": {
                        "x": 2140.427734375,
                        "y": 2524.48876953125,
                        "z": 364.7903137207031
                    },
                    "rotation": {
                        "roll": -0.007293701171875,
                        "pitch": 0.33589503169059753,
                        "yaw": -179.9268341064453
                    }
                },
                "velocity": {
                    "x": -3.813310146331787,
                    "y": 0.011281021870672703,
                    "z": 0.012500476092100143
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010549005819484591,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8333435058594
                    },
                    "rotation": {
                        "roll": 0.002111605368554592,
                        "pitch": 0.2456682324409485,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 0.00036344880936667323,
                    "y": -2.04478892555926e-05,
                    "z": 0.0009901020675897598
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.044525146484375,
                "transform": {
                    "location": {
                        "x": 2187.975341796875,
                        "y": 2481.77587890625,
                        "z": 364.9947509765625
                    },
                    "rotation": {
                        "roll": 0.00017362738435622305,
                        "pitch": -0.413629412651062,
                        "yaw": -89.92388916015625
                    }
                },
                "velocity": {
                    "x": 0.010684773325920105,
                    "y": -8.044305801391602,
                    "z": -0.058369942009449005
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.718258857727051,
                "transform": {
                    "location": {
                        "x": 2185.05810546875,
                        "y": 2459.05615234375,
                        "z": 364.76495361328125
                    },
                    "rotation": {
                        "roll": 0.0013146266574040055,
                        "pitch": 0.5261635780334473,
                        "yaw": 90.11384582519531
                    }
                },
                "velocity": {
                    "x": -0.011487226001918316,
                    "y": 5.7179718017578125,
                    "z": 0.05614146962761879
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9871363639831543,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2477.2470703125,
                        "z": 364.92779541015625
                    },
                    "rotation": {
                        "roll": -0.0009765400318428874,
                        "pitch": 0.6515863537788391,
                        "yaw": 90.08312225341797
                    }
                },
                "velocity": {
                    "x": -0.004189548548310995,
                    "y": 2.9870498180389404,
                    "z": 0.022377653047442436
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003149641561321914,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2500.45751953125,
                        "z": 365.07379150390625
                    },
                    "rotation": {
                        "roll": 0.0019705058075487614,
                        "pitch": 0.2762469947338104,
                        "yaw": 90.41583251953125
                    }
                },
                "velocity": {
                    "x": -0.00010572504106676206,
                    "y": -0.0002958072000183165,
                    "z": 2.28633543883916e-05
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0426452159881592,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2510.598876953125,
                        "z": 365.12646484375
                    },
                    "rotation": {
                        "roll": 0.0022159835789352655,
                        "pitch": 0.11156430095434189,
                        "yaw": 90.37762451171875
                    }
                },
                "velocity": {
                    "x": -0.008369685150682926,
                    "y": 1.0426079034805298,
                    "z": 0.0027828786987811327
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04003508388996124,
        "expert_target_speed": 3.33099834079131,
        "target_point": [
            25.912539290944423,
            -0.1252706826144319
        ],
        "target_point_next": [
            34.88684582969605,
            8.75491410861864
        ]
    },
    "115": {
        "acceleration": [
            0.010579396039247513,
            -2.5997018814086914,
            -0.02726709470152855
        ],
        "angular_velocity": [
            -0.09808696806430817,
            -0.006568347103893757,
            -0.8653566241264343
        ],
        "forward_vector": [
            -0.004662057384848595,
            0.9999877214431763,
            0.0016739359125494957
        ],
        "right_vector": [
            -0.9999891519546509,
            -0.00466200802475214,
            -3.3346645068377256e-05
        ],
        "location": [
            2185.08349609375,
            2490.294677734375,
            365.01513671875
        ],
        "rotation": [
            0.0019106246763840318,
            0.09590951353311539,
            90.26712036132812
        ],
        "velocity": [
            -0.0120497215539217,
            2.384460926055908,
            0.015220622532069683
        ],
        "speed": 2.384491372112075,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.163198471069336,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.021728515625,
                2500.45751953125,
                365.0736999511719
            ],
            "velocity": [
                3.368008401594125e-05,
                -0.00013921938079874963,
                0.0002914319629780948
            ],
            "speed_kmh": 0.0011690246752338789,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.13108353316783905,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.1923828125,
                        "z": 364.5091247558594
                    },
                    "rotation": {
                        "roll": 0.0009479683358222246,
                        "pitch": 0.676851212978363,
                        "yaw": 90.0603256225586
                    }
                },
                "velocity": {
                    "x": -5.8479010476730764e-05,
                    "y": 0.0015235410537570715,
                    "z": -0.1310746669769287
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85969,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.7802734375,
                        "y": 2573.080322265625,
                        "z": 365.07720947265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.703184127807617,
                "transform": {
                    "location": {
                        "x": 2187.80810546875,
                        "y": 2557.6640625,
                        "z": 365.1383972167969
                    },
                    "rotation": {
                        "roll": -0.0425415113568306,
                        "pitch": -0.18268023431301117,
                        "yaw": -89.57909393310547
                    }
                },
                "velocity": {
                    "x": 0.06966239213943481,
                    "y": -5.7027482986450195,
                    "z": 0.010887708514928818
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.834458351135254,
                "transform": {
                    "location": {
                        "x": 2227.292236328125,
                        "y": 2524.275146484375,
                        "z": 366.2670593261719
                    },
                    "rotation": {
                        "roll": -0.0009460446308366954,
                        "pitch": -1.831719994544983,
                        "yaw": -179.84637451171875
                    }
                },
                "velocity": {
                    "x": -7.830628395080566,
                    "y": -0.0198892280459404,
                    "z": -0.24413232505321503
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.143886089324951,
                "transform": {
                    "location": {
                        "x": 2140.357177734375,
                        "y": 2527.33642578125,
                        "z": 364.7806701660156
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.18666906654834747,
                        "yaw": 0.3600519001483917
                    }
                },
                "velocity": {
                    "x": 5.14378023147583,
                    "y": 0.029476245865225792,
                    "z": -0.01484899502247572
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5783198475837708,
                "transform": {
                    "location": {
                        "x": 2140.03466796875,
                        "y": 2524.4892578125,
                        "z": 364.7899475097656
                    },
                    "rotation": {
                        "roll": 0.0010894023580476642,
                        "pitch": 0.5704027414321899,
                        "yaw": -179.95114135742188
                    }
                },
                "velocity": {
                    "x": -0.5783118605613708,
                    "y": -0.0006775942747481167,
                    "z": 0.0029655168764293194
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003009609063155949,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.83355712890625
                    },
                    "rotation": {
                        "roll": 0.00221109832637012,
                        "pitch": 0.22382529079914093,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 6.774623034289107e-05,
                    "y": -2.452788976370357e-05,
                    "z": 0.0002922093262895942
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.017099380493164,
                "transform": {
                    "location": {
                        "x": 2187.9775390625,
                        "y": 2479.768310546875,
                        "z": 364.97967529296875
                    },
                    "rotation": {
                        "roll": -0.00045774297905154526,
                        "pitch": -0.44168099761009216,
                        "yaw": -89.92007446289062
                    }
                },
                "velocity": {
                    "x": 0.011167464777827263,
                    "y": -8.016860961914062,
                    "z": -0.06090943142771721
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.889431953430176,
                "transform": {
                    "location": {
                        "x": 2185.0546875,
                        "y": 2460.578857421875,
                        "z": 364.7808532714844
                    },
                    "rotation": {
                        "roll": 6.336793740047142e-05,
                        "pitch": 0.447404682636261,
                        "yaw": 90.10462188720703
                    }
                },
                "velocity": {
                    "x": -0.01260502077639103,
                    "y": 6.889069080352783,
                    "z": 0.06958247721195221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3921366035938263,
                "transform": {
                    "location": {
                        "x": 2185.0361328125,
                        "y": 2477.475341796875,
                        "z": 364.9288330078125
                    },
                    "rotation": {
                        "roll": -0.0010375562123954296,
                        "pitch": 0.7457336783409119,
                        "yaw": 90.11698913574219
                    }
                },
                "velocity": {
                    "x": 0.0025300143752247095,
                    "y": 0.3921109437942505,
                    "z": 0.0037047481164336205
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0003247290733270347,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2500.45751953125,
                        "z": 365.0736999511719
                    },
                    "rotation": {
                        "roll": 0.0013430432882159948,
                        "pitch": 0.29193592071533203,
                        "yaw": 90.41585540771484
                    }
                },
                "velocity": {
                    "x": 3.368008401594125e-05,
                    "y": -0.00013921938079874963,
                    "z": 0.0002914319629780948
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8503884077072144,
                "transform": {
                    "location": {
                        "x": 2185.027587890625,
                        "y": 2510.967041015625,
                        "z": 365.1276550292969
                    },
                    "rotation": {
                        "roll": 0.0021697923075407743,
                        "pitch": 0.09797906130552292,
                        "yaw": 90.37661743164062
                    }
                },
                "velocity": {
                    "x": -0.01494647841900587,
                    "y": 1.8503190279006958,
                    "z": 0.005775079596787691
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04117857664823532,
        "expert_target_speed": 2.5483229637477725,
        "target_point": [
            25.236507363397,
            -0.12512273990699083
        ],
        "target_point_next": [
            34.21058735871712,
            8.755290990067675
        ]
    },
    "120": {
        "acceleration": [
            0.004750415682792664,
            -2.1867990493774414,
            -0.006194114685058594
        ],
        "angular_velocity": [
            0.06590574234724045,
            -0.03429162874817848,
            1.0849130153656006
        ],
        "forward_vector": [
            -0.004937188234180212,
            0.9999863505363464,
            0.001722811721265316
        ],
        "right_vector": [
            -0.9999878406524658,
            -0.004937160760164261,
            -2.0296776710893027e-05
        ],
        "location": [
            2185.081298828125,
            2490.81201171875,
            365.0184020996094
        ],
        "rotation": [
            0.0011629214277490973,
            0.09870988875627518,
            90.28288269042969
        ],
        "velocity": [
            -0.00926282536238432,
            1.7971761226654053,
            0.011944274418056011
        ],
        "speed": 1.7971999932707416,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.65439510345459,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.021728515625,
                2500.466064453125,
                365.0736389160156
            ],
            "velocity": [
                -0.0002122213045367971,
                0.0909445658326149,
                0.0010234260698780417
            ],
            "speed_kmh": 0.3274220581344195,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.18556152284145355,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19189453125,
                        "z": 364.55609130859375
                    },
                    "rotation": {
                        "roll": 0.0012107888469472528,
                        "pitch": 0.6768785119056702,
                        "yaw": 90.06036376953125
                    }
                },
                "velocity": {
                    "x": -4.1593997593736276e-05,
                    "y": -0.0022136131301522255,
                    "z": 0.1855483055114746
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85969,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78173828125,
                        "y": 2571.679931640625,
                        "z": 365.08111572265625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.448094367980957,
                "transform": {
                    "location": {
                        "x": 2187.82568359375,
                        "y": 2556.26953125,
                        "z": 365.1405029296875
                    },
                    "rotation": {
                        "roll": -0.0259094201028347,
                        "pitch": 0.028878038749098778,
                        "yaw": -89.33882904052734
                    }
                },
                "velocity": {
                    "x": 0.07667487114667892,
                    "y": -5.447543621063232,
                    "z": 0.011067571118474007
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 8.116819381713867,
                "transform": {
                    "location": {
                        "x": 2225.30908203125,
                        "y": 2524.27197265625,
                        "z": 366.20562744140625
                    },
                    "rotation": {
                        "roll": 0.004279548767954111,
                        "pitch": -1.7307766675949097,
                        "yaw": -179.90359497070312
                    }
                },
                "velocity": {
                    "x": -8.113021850585938,
                    "y": -0.005561071448028088,
                    "z": -0.24818551540374756
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.480830669403076,
                "transform": {
                    "location": {
                        "x": 2141.68212890625,
                        "y": 2527.344482421875,
                        "z": 364.77593994140625
                    },
                    "rotation": {
                        "roll": -0.0016174314077943563,
                        "pitch": -0.2037103772163391,
                        "yaw": 0.33749228715896606
                    }
                },
                "velocity": {
                    "x": 5.480696678161621,
                    "y": 0.031765274703502655,
                    "z": -0.02137698605656624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8150153160095215,
                "transform": {
                    "location": {
                        "x": 2139.710205078125,
                        "y": 2524.48876953125,
                        "z": 364.79437255859375
                    },
                    "rotation": {
                        "roll": 0.0011509046889841557,
                        "pitch": 0.1780698448419571,
                        "yaw": -179.850830078125
                    }
                },
                "velocity": {
                    "x": -1.8149861097335815,
                    "y": -0.007757878862321377,
                    "z": 0.006765623111277819
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.289393736049533e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": -2.2770091163692996e-06,
                    "y": -2.5074570658034645e-05,
                    "z": 7.89777550380677e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.048897743225098,
                "transform": {
                    "location": {
                        "x": 2187.979736328125,
                        "y": 2477.760009765625,
                        "z": 364.9642639160156
                    },
                    "rotation": {
                        "roll": 0.002075748285278678,
                        "pitch": -0.45215165615081787,
                        "yaw": -89.92748260498047
                    }
                },
                "velocity": {
                    "x": 0.010192629881203175,
                    "y": -8.048638343811035,
                    "z": -0.06375732272863388
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.957400321960449,
                "transform": {
                    "location": {
                        "x": 2185.050537109375,
                        "y": 2462.47509765625,
                        "z": 364.7997131347656
                    },
                    "rotation": {
                        "roll": -0.0007324398611672223,
                        "pitch": 0.446100115776062,
                        "yaw": 90.10153198242188
                    }
                },
                "velocity": {
                    "x": -0.013906124979257584,
                    "y": 7.957005977630615,
                    "z": 0.07794883847236633
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4127146005630493,
                "transform": {
                    "location": {
                        "x": 2185.03662109375,
                        "y": 2477.713134765625,
                        "z": 364.9334716796875
                    },
                    "rotation": {
                        "roll": -6.104633212089539e-05,
                        "pitch": 0.40382125973701477,
                        "yaw": 90.15721130371094
                    }
                },
                "velocity": {
                    "x": -0.0025261405389755964,
                    "y": 1.4126698970794678,
                    "z": 0.010952625423669815
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.09095057100057602,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2500.466064453125,
                        "z": 365.0736389160156
                    },
                    "rotation": {
                        "roll": 0.0021331992466002703,
                        "pitch": 0.3158552646636963,
                        "yaw": 90.40850067138672
                    }
                },
                "velocity": {
                    "x": -0.0002122213045367971,
                    "y": 0.0909445658326149,
                    "z": 0.0010234260698780417
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7502708435058594,
                "transform": {
                    "location": {
                        "x": 2185.0361328125,
                        "y": 2511.54736328125,
                        "z": 365.1295166015625
                    },
                    "rotation": {
                        "roll": -0.052856434136629105,
                        "pitch": 0.09480985254049301,
                        "yaw": 89.93089294433594
                    }
                },
                "velocity": {
                    "x": 0.20685818791389465,
                    "y": 2.742469310760498,
                    "z": 0.007837257348001003
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.521389365196228,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04544789344072342,
        "expert_target_speed": 1.8698044027585377,
        "target_point": [
            24.71913207063477,
            -0.13197063057432615
        ],
        "target_point_next": [
            33.69574817209591,
            8.745879511488003
        ]
    },
    "125": {
        "acceleration": [
            -0.08015267550945282,
            -1.6753935813903809,
            -0.017284397035837173
        ],
        "angular_velocity": [
            0.17083361744880676,
            0.06650672852993011,
            -0.9593814611434937
        ],
        "forward_vector": [
            -0.004893552511930466,
            0.99998539686203,
            0.0022991872392594814
        ],
        "right_vector": [
            -0.9999880194664001,
            -0.004893651232123375,
            3.7284218706190586e-05
        ],
        "location": [
            2185.079345703125,
            2491.197509765625,
            365.02056884765625
        ],
        "rotation": [
            -0.002136233961209655,
            0.13173384964466095,
            90.28038024902344
        ],
        "velocity": [
            -0.011492679826915264,
            1.3254460096359253,
            0.009273137897253036
        ],
        "speed": 1.3254958340747063,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.37313175201416,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.021484375,
                2500.5703125,
                365.0736999511719
            ],
            "velocity": [
                -0.004805368836969137,
                0.7733616232872009,
                0.0030986976344138384
            ],
            "speed_kmh": 2.784177936942346,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6015850305557251,
                "transform": {
                    "location": {
                        "x": 2185.167236328125,
                        "y": 2443.218505859375,
                        "z": 364.57708740234375
                    },
                    "rotation": {
                        "roll": -0.00027469484484754503,
                        "pitch": 0.6892480254173279,
                        "yaw": 90.06886291503906
                    }
                },
                "velocity": {
                    "x": -0.007260050158947706,
                    "y": 0.6009613275527954,
                    "z": 0.026406172662973404
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85969,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782958984375,
                        "y": 2570.3623046875,
                        "z": 365.086669921875
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.8375139236450195,
                "transform": {
                    "location": {
                        "x": 2187.839599609375,
                        "y": 2554.974609375,
                        "z": 365.1437683105469
                    },
                    "rotation": {
                        "roll": 0.011530603282153606,
                        "pitch": -0.1073637381196022,
                        "yaw": -89.37039184570312
                    }
                },
                "velocity": {
                    "x": 0.04209785908460617,
                    "y": -4.837318420410156,
                    "z": 0.010838594287633896
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.888699531555176,
                "transform": {
                    "location": {
                        "x": 2223.2861328125,
                        "y": 2524.271484375,
                        "z": 366.1438903808594
                    },
                    "rotation": {
                        "roll": 0.0031019309535622597,
                        "pitch": -1.7919341325759888,
                        "yaw": 179.9946746826172
                    }
                },
                "velocity": {
                    "x": -7.885043621063232,
                    "y": 0.0017507965676486492,
                    "z": -0.24014081060886383
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.506830215454102,
                "transform": {
                    "location": {
                        "x": 2143.163818359375,
                        "y": 2527.352783203125,
                        "z": 364.77008056640625
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.18902547657489777,
                        "yaw": 0.3145703673362732
                    }
                },
                "velocity": {
                    "x": 6.506729602813721,
                    "y": 0.02739523909986019,
                    "z": -0.02369331754744053
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.217637300491333,
                "transform": {
                    "location": {
                        "x": 2139.1689453125,
                        "y": 2524.486572265625,
                        "z": 364.79644775390625
                    },
                    "rotation": {
                        "roll": 0.0018625911325216293,
                        "pitch": 0.1640816181898117,
                        "yaw": -179.8397674560547
                    }
                },
                "velocity": {
                    "x": -2.2176015377044678,
                    "y": -0.00912084337323904,
                    "z": 0.0087044145911932
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004955575568601489,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.0212941308273003e-05,
                    "y": 1.1094978617620654e-05,
                    "z": 0.0004950208240188658
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.013150215148926,
                "transform": {
                    "location": {
                        "x": 2187.9814453125,
                        "y": 2475.752685546875,
                        "z": 364.94818115234375
                    },
                    "rotation": {
                        "roll": 0.0002734831941779703,
                        "pitch": -0.4606620967388153,
                        "yaw": -89.92789459228516
                    }
                },
                "velocity": {
                    "x": 0.010138515383005142,
                    "y": -8.01286792755127,
                    "z": -0.0664762482047081
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.911551475524902,
                "transform": {
                    "location": {
                        "x": 2185.046875,
                        "y": 2464.35546875,
                        "z": 364.81646728515625
                    },
                    "rotation": {
                        "roll": 0.0002494494547136128,
                        "pitch": 0.610550582408905,
                        "yaw": 90.09723663330078
                    }
                },
                "velocity": {
                    "x": -0.011725197546184063,
                    "y": 6.91123628616333,
                    "z": 0.0649758130311966
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.201155185699463,
                "transform": {
                    "location": {
                        "x": 2185.03662109375,
                        "y": 2478.1728515625,
                        "z": 364.9373779296875
                    },
                    "rotation": {
                        "roll": 0.001209901412948966,
                        "pitch": 0.362819641828537,
                        "yaw": 90.14547729492188
                    }
                },
                "velocity": {
                    "x": -0.0038524942938238382,
                    "y": 2.201085090637207,
                    "z": 0.017122440040111542
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7733827233314514,
                "transform": {
                    "location": {
                        "x": 2185.021484375,
                        "y": 2500.5703125,
                        "z": 365.0736999511719
                    },
                    "rotation": {
                        "roll": 0.002159214112907648,
                        "pitch": 0.4744795560836792,
                        "yaw": 90.36697387695312
                    }
                },
                "velocity": {
                    "x": -0.004805368836969137,
                    "y": 0.7733616232872009,
                    "z": 0.0030986976344138384
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.601167917251587,
                "transform": {
                    "location": {
                        "x": 2185.084716796875,
                        "y": 2512.353759765625,
                        "z": 365.1321716308594
                    },
                    "rotation": {
                        "roll": -0.027709955349564552,
                        "pitch": 0.09127864241600037,
                        "yaw": 88.56524658203125
                    }
                },
                "velocity": {
                    "x": 0.2688083052635193,
                    "y": 3.5911059379577637,
                    "z": 0.010539397597312927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.38248276710510254,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04484490305185318,
        "expert_target_speed": 1.3786150269575772,
        "target_point": [
            24.33363706023385,
            -0.13053854855627323
        ],
        "target_point_next": [
            33.30971340077927,
            8.747857326072664
        ]
    },
    "130": {
        "acceleration": [
            -0.0017540156841278076,
            -1.2780117988586426,
            -0.034668922424316406
        ],
        "angular_velocity": [
            0.16845019161701202,
            -0.0341680571436882,
            1.5316948890686035
        ],
        "forward_vector": [
            -0.006268234923481941,
            0.9999754428863525,
            0.003123158821836114
        ],
        "right_vector": [
            -0.9999803304672241,
            -0.006268373690545559,
            3.462109816609882e-05
        ],
        "location": [
            2185.07568359375,
            2491.482177734375,
            365.0223693847656
        ],
        "rotation": [
            -0.001983652589842677,
            0.17894411087036133,
            90.35914611816406
        ],
        "velocity": [
            -0.012598861940205097,
            0.9740303754806519,
            0.00594671256840229
        ],
        "speed": 0.9741118537833158,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.398751258850098,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.01953125,
                2500.880615234375,
                365.07476806640625
            ],
            "velocity": [
                -0.006596425082534552,
                1.6141375303268433,
                0.007919654250144958
            ],
            "speed_kmh": 5.8110135741725895,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85971,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.9498291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 4.04655392527431e-10,
                    "y": -8.895712400210087e-13,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5192638635635376,
                "transform": {
                    "location": {
                        "x": 2185.16455078125,
                        "y": 2443.51171875,
                        "z": 364.5809326171875
                    },
                    "rotation": {
                        "roll": 0.000988825224339962,
                        "pitch": 0.7071635723114014,
                        "yaw": 90.1632308959961
                    }
                },
                "velocity": {
                    "x": -0.0194648876786232,
                    "y": 1.5190753936767578,
                    "z": 0.013921517878770828
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85969,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.783447265625,
                        "y": 2569.08544921875,
                        "z": 365.09307861328125
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.319502353668213,
                "transform": {
                    "location": {
                        "x": 2187.850830078125,
                        "y": 2553.68310546875,
                        "z": 365.1461181640625
                    },
                    "rotation": {
                        "roll": 0.009825050830841064,
                        "pitch": 0.15831011533737183,
                        "yaw": -89.509765625
                    }
                },
                "velocity": {
                    "x": 0.042695723474025726,
                    "y": -5.319314479827881,
                    "z": 0.013293304480612278
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.252207279205322,
                "transform": {
                    "location": {
                        "x": 2221.4033203125,
                        "y": 2524.27197265625,
                        "z": 366.08636474609375
                    },
                    "rotation": {
                        "roll": -0.0009460447472520173,
                        "pitch": -1.8736573457717896,
                        "yaw": 179.99813842773438
                    }
                },
                "velocity": {
                    "x": -7.248862266540527,
                    "y": 0.002082287101075053,
                    "z": -0.22023189067840576
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.575488567352295,
                "transform": {
                    "location": {
                        "x": 2144.93017578125,
                        "y": 2527.359375,
                        "z": 364.7633056640625
                    },
                    "rotation": {
                        "roll": 0.0008066829177550972,
                        "pitch": -0.18032380938529968,
                        "yaw": 0.1541251391172409
                    }
                },
                "velocity": {
                    "x": 7.575418949127197,
                    "y": 0.014774076640605927,
                    "z": -0.028951654210686684
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009626002865843475,
                "transform": {
                    "location": {
                        "x": 2138.866455078125,
                        "y": 2524.4853515625,
                        "z": 364.795654296875
                    },
                    "rotation": {
                        "roll": 0.002957865595817566,
                        "pitch": 0.4156443178653717,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": -0.00021585458307527006,
                    "y": 9.700703230919316e-05,
                    "z": 0.0009330572211183608
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002805906697176397,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.839790456870105e-05,
                    "y": -2.156298705813242e-06,
                    "z": 0.00027997855795547366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.051107406616211,
                "transform": {
                    "location": {
                        "x": 2187.9833984375,
                        "y": 2473.744384765625,
                        "z": 364.93170166015625
                    },
                    "rotation": {
                        "roll": 0.0017620930448174477,
                        "pitch": -0.4899909198284149,
                        "yaw": -89.92809295654297
                    }
                },
                "velocity": {
                    "x": 0.010136700235307217,
                    "y": -8.05080509185791,
                    "z": -0.06907027959823608
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.3948845863342285,
                "transform": {
                    "location": {
                        "x": 2185.04296875,
                        "y": 2465.838623046875,
                        "z": 364.8291320800781
                    },
                    "rotation": {
                        "roll": 0.0018050841754302382,
                        "pitch": 0.7471543550491333,
                        "yaw": 89.92460632324219
                    }
                },
                "velocity": {
                    "x": -0.02215479128062725,
                    "y": 4.394670486450195,
                    "z": 0.037313688546419144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7270285487174988,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2478.65234375,
                        "z": 364.9399108886719
                    },
                    "rotation": {
                        "roll": 0.0002861327084247023,
                        "pitch": 0.5209111571311951,
                        "yaw": 90.13844299316406
                    }
                },
                "velocity": {
                    "x": -0.0008117950637824833,
                    "y": 0.7270039319992065,
                    "z": 0.005928745027631521
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.6141704320907593,
                "transform": {
                    "location": {
                        "x": 2185.01953125,
                        "y": 2500.880615234375,
                        "z": 365.07476806640625
                    },
                    "rotation": {
                        "roll": 0.0037804616149514914,
                        "pitch": 0.6164791584014893,
                        "yaw": 90.35894775390625
                    }
                },
                "velocity": {
                    "x": -0.006596425082534552,
                    "y": 1.6141375303268433,
                    "z": 0.007919654250144958
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0704598426818848,
                "transform": {
                    "location": {
                        "x": 2185.139892578125,
                        "y": 2513.18310546875,
                        "z": 365.1338195800781
                    },
                    "rotation": {
                        "roll": -0.008636477403342724,
                        "pitch": 0.2080134004354477,
                        "yaw": 87.5826416015625
                    }
                },
                "velocity": {
                    "x": 0.23665300011634827,
                    "y": 3.061310291290283,
                    "z": 0.00991336815059185
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.9276005625724792,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05431748926639557,
        "expert_target_speed": 1.1180246845272481,
        "target_point": [
            24.048746886447812,
            -0.16622084805197596
        ],
        "target_point_next": [
            33.037149006036856,
            8.699696313443198
        ]
    },
    "135": {
        "acceleration": [
            0.023057088255882263,
            -0.8363938331604004,
            5.016103386878967e-05
        ],
        "angular_velocity": [
            0.1830706149339676,
            0.035924818366765976,
            -1.1325427293777466
        ],
        "forward_vector": [
            -0.006882247515022755,
            0.9999688267707825,
            0.003882159711793065
        ],
        "right_vector": [
            -0.9999763369560242,
            -0.006882201414555311,
            -2.5248618840123527e-05
        ],
        "location": [
            2185.072998046875,
            2491.69091796875,
            365.02337646484375
        ],
        "rotation": [
            0.001446650130674243,
            0.22243192791938782,
            90.39433288574219
        ],
        "velocity": [
            -0.009270158596336842,
            0.7186669707298279,
            0.005748949013650417
        ],
        "speed": 0.7187267566039187,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.700260162353516,
        "front_vehicle_info": {
            "id": 85959,
            "type": "vehicle.lincoln.mkz_2020",
            "location": [
                2185.017333984375,
                2501.390869140625,
                365.0773010253906
            ],
            "velocity": [
                -0.0062889293767511845,
                2.3218910694122314,
                0.01140047051012516
            ],
            "speed_kmh": 8.358939266923512,
            "color": "0,0,0"
        },
        "other_vehicles": [
            {
                "id": 85971,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4569252729415894,
                "transform": {
                    "location": {
                        "x": 2236.937744140625,
                        "y": 2524.330322265625,
                        "z": 366.5497131347656
                    },
                    "rotation": {
                        "roll": 0.0008894088678061962,
                        "pitch": -1.7400110960006714,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 0.044343069195747375,
                    "y": 0.00012225133832544088,
                    "z": -1.4562503099441528
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0859997272491455,
                "transform": {
                    "location": {
                        "x": 2185.161376953125,
                        "y": 2443.96630859375,
                        "z": 364.5857849121094
                    },
                    "rotation": {
                        "roll": 0.003490695497021079,
                        "pitch": 0.6932300329208374,
                        "yaw": 90.46939849853516
                    }
                },
                "velocity": {
                    "x": -0.028453709557652473,
                    "y": 2.0856800079345703,
                    "z": 0.022891882807016373
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85969,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.785400390625,
                        "y": 2567.6669921875,
                        "z": 365.1002197265625
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85968,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.2989606857299805,
                "transform": {
                    "location": {
                        "x": 2187.861572265625,
                        "y": 2552.294921875,
                        "z": 365.1484375
                    },
                    "rotation": {
                        "roll": 0.005021844990551472,
                        "pitch": 0.37757283449172974,
                        "yaw": -89.52789306640625
                    }
                },
                "velocity": {
                    "x": 0.04969833791255951,
                    "y": -6.298750877380371,
                    "z": 0.013241948559880257
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85967,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.044486999511719,
                "transform": {
                    "location": {
                        "x": 2219.6240234375,
                        "y": 2524.273681640625,
                        "z": 366.0335998535156
                    },
                    "rotation": {
                        "roll": 0.0017801140202209353,
                        "pitch": -1.7600098848342896,
                        "yaw": 179.9320831298828
                    }
                },
                "velocity": {
                    "x": -7.041396141052246,
                    "y": 0.00900909211486578,
                    "z": -0.20846568048000336
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85966,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 8.679730415344238,
                "transform": {
                    "location": {
                        "x": 2146.928955078125,
                        "y": 2527.363037109375,
                        "z": 364.755615234375
                    },
                    "rotation": {
                        "roll": 0.00028707386809401214,
                        "pitch": -0.17584320902824402,
                        "yaw": 0.04808364436030388
                    }
                },
                "velocity": {
                    "x": 8.67966079711914,
                    "y": 0.008821836672723293,
                    "z": -0.033691249787807465
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0016321460716426373,
                "transform": {
                    "location": {
                        "x": 2138.867431640625,
                        "y": 2524.4853515625,
                        "z": 364.79681396484375
                    },
                    "rotation": {
                        "roll": 0.001981863286346197,
                        "pitch": 0.2670740485191345,
                        "yaw": -179.8000030517578
                    }
                },
                "velocity": {
                    "x": 0.0005643168115057051,
                    "y": -6.590737029910088e-05,
                    "z": 0.0015300665982067585
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008091835188679397,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.5586523406673223e-05,
                    "y": 1.1025182402590872e-06,
                    "z": 0.0008087781607173383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.0133056640625,
                "transform": {
                    "location": {
                        "x": 2187.9853515625,
                        "y": 2471.737060546875,
                        "z": 364.91455078125
                    },
                    "rotation": {
                        "roll": -0.001434312667697668,
                        "pitch": -0.49242928624153137,
                        "yaw": -89.9265365600586
                    }
                },
                "velocity": {
                    "x": 0.011673562228679657,
                    "y": -8.0129976272583,
                    "z": -0.0692766085267067
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0031481790356338024,
                "transform": {
                    "location": {
                        "x": 2185.000244140625,
                        "y": 2466.3037109375,
                        "z": 364.8316955566406
                    },
                    "rotation": {
                        "roll": -0.051116954535245895,
                        "pitch": 0.9365077018737793,
                        "yaw": 87.13207244873047
                    }
                },
                "velocity": {
                    "x": 0.002790429163724184,
                    "y": -0.0009092889376915991,
                    "z": 0.0011391793377697468
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0201865434646606,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2478.7734375,
                        "z": 364.94140625
                    },
                    "rotation": {
                        "roll": 0.0014500209363177419,
                        "pitch": 0.4593370258808136,
                        "yaw": 90.12905883789062
                    }
                },
                "velocity": {
                    "x": -0.004185625351965427,
                    "y": 1.0201517343521118,
                    "z": 0.007308692671358585
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85959,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.321927547454834,
                "transform": {
                    "location": {
                        "x": 2185.017333984375,
                        "y": 2501.390869140625,
                        "z": 365.0773010253906
                    },
                    "rotation": {
                        "roll": 0.006879336666315794,
                        "pitch": 0.6399613618850708,
                        "yaw": 90.30802917480469
                    }
                },
                "velocity": {
                    "x": -0.0062889293767511845,
                    "y": 2.3218910694122314,
                    "z": 0.01140047051012516
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85958,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1140482425689697,
                "transform": {
                    "location": {
                        "x": 2185.194580078125,
                        "y": 2513.959716796875,
                        "z": 365.1365051269531
                    },
                    "rotation": {
                        "roll": -0.00973509717732668,
                        "pitch": 0.18421702086925507,
                        "yaw": 86.94660949707031
                    }
                },
                "velocity": {
                    "x": 0.24116060137748718,
                    "y": 3.104682445526123,
                    "z": 0.00914324726909399
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.47509765625,
                        "z": 164.88661193847656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.0697578191757202,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05755993351340294,
        "expert_target_speed": 1.0278035880152456,
        "target_point": [
            23.839887701245573,
            -0.18207963644751282
        ],
        "target_point_next": [
            32.8336741227421,
            8.678375520170121
        ]
    },
    "140": {
        "acceleration": [
            -0.017259791493415833,
            0.19275307655334473,
            -0.0014993641525506973
        ],
        "angular_velocity": [
            0.3569633662700653,
            0.04462528973817825,
            1.113024353981018
        ],
        "forward_vector": [
            -0.007731071673333645,
            0.9999579787254333,
            0.004927495960146189
        ],
        "right_vector": [
            -0.9999701380729675,
            -0.007731038611382246,
            -2.5758519768714905e-05
        ],
        "location": [
            2185.0712890625,
            2491.855712890625,
            365.024169921875
        ],
        "rotation": [
            0.0014758723555132747,
            0.2823258638381958,
            90.4429702758789
        ],
        "velocity": [
            -0.01113524753600359,
            0.6428277492523193,
            0.005354766733944416
        ],
        "speed": 0.6429241860021218,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.55522155761719,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2135.974853515625,
                2527.302490234375,
                364.99920654296875
            ],
            "velocity": [
                0.0,
                0.0,
                -1.9600002765655518
            ],
            "speed_kmh": 7.056000995635986,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.778076171875,
                        "y": 2575.275146484375,
                        "z": 365.0711364746094
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.6005704402923584,
                "transform": {
                    "location": {
                        "x": 2185.155517578125,
                        "y": 2444.5546875,
                        "z": 364.59271240234375
                    },
                    "rotation": {
                        "roll": 0.007298075128346682,
                        "pitch": 0.6871306300163269,
                        "yaw": 90.73313903808594
                    }
                },
                "velocity": {
                    "x": -0.03767218440771103,
                    "y": 2.600121021270752,
                    "z": 0.030315160751342773
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.7586975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 8.866434342280627e-08,
                    "y": -1.9491462610599086e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003061481402255595,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.79718017578125
                    },
                    "rotation": {
                        "roll": 0.0023960471153259277,
                        "pitch": 0.22810098528862,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 9.054355177795514e-05,
                    "y": 0.0001326247293036431,
                    "z": 0.00026065154816024005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016583612887188792,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.824157490977086e-05,
                    "y": -1.9581699234549887e-05,
                    "z": -0.00016223621787503362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.051310539245605,
                "transform": {
                    "location": {
                        "x": 2187.987548828125,
                        "y": 2469.728759765625,
                        "z": 364.8969421386719
                    },
                    "rotation": {
                        "roll": -0.0005798419006168842,
                        "pitch": -0.5098872780799866,
                        "yaw": -89.9244384765625
                    }
                },
                "velocity": {
                    "x": 0.010585214011371136,
                    "y": -8.050976753234863,
                    "z": -0.07255382090806961
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2035036087036133,
                "transform": {
                    "location": {
                        "x": 2185.00244140625,
                        "y": 2466.483154296875,
                        "z": 364.83685302734375
                    },
                    "rotation": {
                        "roll": -0.024108869954943657,
                        "pitch": 0.5211707353591919,
                        "yaw": 87.3672103881836
                    }
                },
                "velocity": {
                    "x": 0.002178352791815996,
                    "y": 1.2034578323364258,
                    "z": 0.010263900272548199
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.008665420114994049,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2479.0556640625,
                        "z": 364.9432678222656
                    },
                    "rotation": {
                        "roll": 0.0008582072914578021,
                        "pitch": 0.4903460741043091,
                        "yaw": 90.11725616455078
                    }
                },
                "velocity": {
                    "x": 8.759521006140858e-05,
                    "y": 0.008664569817483425,
                    "z": -8.397117198910564e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0284891277551651,
                "transform": {
                    "location": {
                        "x": 2171.16845703125,
                        "y": 2524.47509765625,
                        "z": 364.890380859375
                    },
                    "rotation": {
                        "roll": 0.0010919900378212333,
                        "pitch": -1.0289884805679321,
                        "yaw": 179.87396240234375
                    }
                },
                "velocity": {
                    "x": -3.938972804462537e-05,
                    "y": -9.239710925612599e-05,
                    "z": 0.028488950803875923
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06072084978222847,
        "expert_target_speed": 1.8169213799143917,
        "target_point": [
            23.67491981466043,
            -0.20293011931402186
        ],
        "target_point_next": [
            32.67629102680351,
            8.649819514507621
        ]
    },
    "145": {
        "acceleration": [
            -0.02126416191458702,
            2.1776247024536133,
            0.005068778991699219
        ],
        "angular_velocity": [
            0.6236015558242798,
            0.024999503046274185,
            0.3871488869190216
        ],
        "forward_vector": [
            -0.008693234995007515,
            0.9999306201934814,
            0.007946884259581566
        ],
        "right_vector": [
            -0.9999622106552124,
            -0.008693474344909191,
            -4.444736987352371e-06
        ],
        "location": [
            2185.068115234375,
            2492.07958984375,
            365.0250549316406
        ],
        "rotation": [
            0.0002546727191656828,
            0.45532771944999695,
            90.49810791015625
        ],
        "velocity": [
            -0.01609288714826107,
            1.1353410482406616,
            0.006526737008243799
        ],
        "speed": 1.1354550967946602,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.42283248901367,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2135.974365234375,
                2527.302490234375,
                364.7611999511719
            ],
            "velocity": [
                0.00040837351116351783,
                0.000321769155561924,
                0.10982940346002579
            ],
            "speed_kmh": 0.3953902824632161,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.780517578125,
                        "y": 2573.19140625,
                        "z": 365.0768737792969
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1420199871063232,
                "transform": {
                    "location": {
                        "x": 2185.146240234375,
                        "y": 2445.27490234375,
                        "z": 364.60113525390625
                    },
                    "rotation": {
                        "roll": 0.010929243639111519,
                        "pitch": 0.6847742199897766,
                        "yaw": 90.8621826171875
                    }
                },
                "velocity": {
                    "x": -0.04672539234161377,
                    "y": 3.141461133956909,
                    "z": 0.036442022770643234
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.10983063280582428,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7611999511719
                    },
                    "rotation": {
                        "roll": 0.0016343211755156517,
                        "pitch": -0.219030499458313,
                        "yaw": -0.12591552734375
                    }
                },
                "velocity": {
                    "x": 0.00040837351116351783,
                    "y": 0.000321769155561924,
                    "z": 0.10982940346002579
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13260367512702942,
                "transform": {
                    "location": {
                        "x": 2236.940185546875,
                        "y": 2524.330322265625,
                        "z": 366.5027770996094
                    },
                    "rotation": {
                        "roll": 0.0014141565188765526,
                        "pitch": -1.7539583444595337,
                        "yaw": 179.8739776611328
                    }
                },
                "velocity": {
                    "x": -0.00415181927382946,
                    "y": 2.4523289539502002e-05,
                    "z": 0.13253866136074066
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.061802974320017e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 3.849658969556913e-05,
                    "y": 5.27064003108535e-06,
                    "z": 1.1834573342639487e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005212218966335058,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 6.539933110616403e-06,
                    "y": -7.791398275003303e-06,
                    "z": -0.0005211226525716484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.013496398925781,
                "transform": {
                    "location": {
                        "x": 2187.9892578125,
                        "y": 2467.72119140625,
                        "z": 364.8789367675781
                    },
                    "rotation": {
                        "roll": 0.00015566036745440215,
                        "pitch": -0.5340251326560974,
                        "yaw": -89.9280014038086
                    }
                },
                "velocity": {
                    "x": 0.010146209970116615,
                    "y": -8.01315689086914,
                    "z": -0.0730028823018074
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0100526809692383,
                "transform": {
                    "location": {
                        "x": 2185.007080078125,
                        "y": 2466.8857421875,
                        "z": 364.8411560058594
                    },
                    "rotation": {
                        "roll": -0.014373778365552425,
                        "pitch": 0.4451097548007965,
                        "yaw": 87.78260040283203
                    }
                },
                "velocity": {
                    "x": 0.004916618578135967,
                    "y": 2.0099596977233887,
                    "z": 0.01869521103799343
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005965753807686269,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2479.055908203125,
                        "z": 364.9432373046875
                    },
                    "rotation": {
                        "roll": 0.0007159695960581303,
                        "pitch": 0.4980778694152832,
                        "yaw": 90.11724853515625
                    }
                },
                "velocity": {
                    "x": 2.800934453262016e-06,
                    "y": -0.00047276532859541476,
                    "z": 0.0003638506168499589
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.005931099411100149,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.8946533203125
                    },
                    "rotation": {
                        "roll": 0.0003952516708523035,
                        "pitch": -0.9951789975166321,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": -9.295746713178232e-05,
                    "y": -5.6765449699014425e-05,
                    "z": 0.005930099170655012
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06842813640832901,
        "expert_target_speed": 2.3060544998594406,
        "target_point": [
            23.450818520250937,
            -0.22683153810907353
        ],
        "target_point_next": [
            32.46066412405623,
            8.617293176836881
        ]
    },
    "150": {
        "acceleration": [
            -0.023263394832611084,
            3.0770087242126465,
            0.018331706523895264
        ],
        "angular_velocity": [
            0.4964190721511841,
            -0.030028924345970154,
            0.14401912689208984
        ],
        "forward_vector": [
            -0.010222414508461952,
            0.9999005794525146,
            0.009710039012134075
        ],
        "right_vector": [
            -0.999947726726532,
            -0.010222891345620155,
            -5.313195288181305e-07
        ],
        "location": [
            2185.0634765625,
            2492.436767578125,
            365.02691650390625
        ],
        "rotation": [
            3.0443801733781584e-05,
            0.5563530325889587,
            90.58573913574219
        ],
        "velocity": [
            -0.02385050244629383,
            1.7200422286987305,
            0.01076879445463419
        ],
        "speed": 1.7202075790362734,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 60.18110656738281,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2136.01171875,
                2527.302734375,
                364.7927551269531
            ],
            "velocity": [
                0.7890207767486572,
                0.007971116341650486,
                0.07346614450216293
            ],
            "speed_kmh": 2.8529053973017398,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.782470703125,
                        "y": 2571.107421875,
                        "z": 365.082763671875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.767606496810913,
                "transform": {
                    "location": {
                        "x": 2185.13330078125,
                        "y": 2446.136474609375,
                        "z": 364.6111755371094
                    },
                    "rotation": {
                        "roll": 0.009768727235496044,
                        "pitch": 0.687895655632019,
                        "yaw": 90.8885498046875
                    }
                },
                "velocity": {
                    "x": -0.056793659925460815,
                    "y": 3.7669365406036377,
                    "z": 0.042699191719293594
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7924736738204956,
                "transform": {
                    "location": {
                        "x": 2136.01171875,
                        "y": 2527.302734375,
                        "z": 364.7927551269531
                    },
                    "rotation": {
                        "roll": -0.0034484860952943563,
                        "pitch": -0.12817531824111938,
                        "yaw": -0.08563232421875
                    }
                },
                "velocity": {
                    "x": 0.7890207767486572,
                    "y": 0.007971116341650486,
                    "z": 0.07346614450216293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13260209560394287,
                "transform": {
                    "location": {
                        "x": 2236.93798828125,
                        "y": 2524.330322265625,
                        "z": 366.5541687011719
                    },
                    "rotation": {
                        "roll": -0.0004577638173941523,
                        "pitch": -1.7457894086837769,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": -0.004149963613599539,
                    "y": 7.219969847938046e-05,
                    "z": 0.1325371116399765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.512201409554109e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.1079944670200348e-05,
                    "y": -5.383162715588696e-06,
                    "z": 7.410514808725566e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021725018450524658,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 5.359761416912079e-06,
                    "y": 6.075079909351189e-06,
                    "z": 0.00021709907741751522
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050603866577148,
                "transform": {
                    "location": {
                        "x": 2187.99169921875,
                        "y": 2465.713134765625,
                        "z": 364.8603515625
                    },
                    "rotation": {
                        "roll": -0.00036623122286982834,
                        "pitch": -0.5307876467704773,
                        "yaw": -89.92281341552734
                    }
                },
                "velocity": {
                    "x": 0.010868016630411148,
                    "y": -8.050251960754395,
                    "z": -0.07445292919874191
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.812109351158142,
                "transform": {
                    "location": {
                        "x": 2185.01171875,
                        "y": 2467.396728515625,
                        "z": 364.84515380859375
                    },
                    "rotation": {
                        "roll": -0.01651003584265709,
                        "pitch": 0.5257469415664673,
                        "yaw": 88.24861145019531
                    }
                },
                "velocity": {
                    "x": 0.001504599815234542,
                    "y": 1.81203293800354,
                    "z": 0.01657206565141678
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015493607497774065,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2479.0556640625,
                        "z": 364.94354248046875
                    },
                    "rotation": {
                        "roll": 0.0005722065689042211,
                        "pitch": 0.45679619908332825,
                        "yaw": 90.11724853515625
                    }
                },
                "velocity": {
                    "x": -4.452600114746019e-05,
                    "y": -0.00010501049109734595,
                    "z": 0.0001048590347636491
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07313116639852524,
        "expert_target_speed": 2.8846879494732316,
        "target_point": [
            23.093237232334328,
            -0.2637237560017676
        ],
        "target_point_next": [
            32.11661372240228,
            8.566595405637656
        ]
    },
    "155": {
        "acceleration": [
            -0.02879232168197632,
            2.2140979766845703,
            -0.011083036661148071
        ],
        "angular_velocity": [
            0.041998762637376785,
            0.0009515573619864881,
            0.9896554946899414
        ],
        "forward_vector": [
            -0.013178419321775436,
            0.9998537302017212,
            0.010899685323238373
        ],
        "right_vector": [
            -0.9999131560325623,
            -0.013179597444832325,
            3.621727228164673e-05
        ],
        "location": [
            2185.056396484375,
            2492.955810546875,
            365.0299072265625
        ],
        "rotation": [
            -0.002075220225378871,
            0.6245183348655701,
            90.75513458251953
        ],
        "velocity": [
            -0.03492189943790436,
            2.378648519515991,
            0.013944244012236595
        ],
        "speed": 2.378904856957497,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 59.57280731201172,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2136.385009765625,
                2527.306396484375,
                364.8006286621094
            ],
            "velocity": [
                2.0135982036590576,
                0.01947963610291481,
                0.006406182888895273
            ],
            "speed_kmh": 7.24932941357367,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.784912109375,
                        "y": 2569.023681640625,
                        "z": 365.0933837890625
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.641715049743652,
                "transform": {
                    "location": {
                        "x": 2185.120849609375,
                        "y": 2447.187744140625,
                        "z": 364.6231994628906
                    },
                    "rotation": {
                        "roll": 0.011024034582078457,
                        "pitch": 0.6917956471443176,
                        "yaw": 90.75211334228516
                    }
                },
                "velocity": {
                    "x": -0.040056899189949036,
                    "y": 4.641242980957031,
                    "z": 0.05270284414291382
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.013702630996704,
                "transform": {
                    "location": {
                        "x": 2136.385009765625,
                        "y": 2527.306396484375,
                        "z": 364.8006286621094
                    },
                    "rotation": {
                        "roll": -0.008209228515625,
                        "pitch": -0.040250301361083984,
                        "yaw": 0.17858180403709412
                    }
                },
                "velocity": {
                    "x": 2.0135982036590576,
                    "y": 0.01947963610291481,
                    "z": 0.006406182888895273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7885328531265259,
                "transform": {
                    "location": {
                        "x": 2236.802734375,
                        "y": 2524.32861328125,
                        "z": 366.5641784667969
                    },
                    "rotation": {
                        "roll": 0.005581962410360575,
                        "pitch": -1.8959921598434448,
                        "yaw": 179.9267120361328
                    }
                },
                "velocity": {
                    "x": -1.7876635789871216,
                    "y": -0.03005772829055786,
                    "z": -0.046958740800619125
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012342439731583,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 2.086311496896087e-06,
                    "y": 1.8619066395331174e-05,
                    "z": -0.00012199408956803381
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004065592656843364,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.3880952792533208e-05,
                    "y": 2.691982990654651e-05,
                    "z": 0.00040542951319366693
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.015225410461426,
                "transform": {
                    "location": {
                        "x": 2187.99365234375,
                        "y": 2463.705078125,
                        "z": 364.8411560058594
                    },
                    "rotation": {
                        "roll": 0.0005742700886912644,
                        "pitch": -0.5587982535362244,
                        "yaw": -89.92568969726562
                    }
                },
                "velocity": {
                    "x": 0.010395539924502373,
                    "y": -8.01485538482666,
                    "z": -0.07634971290826797
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.037036418914795,
                "transform": {
                    "location": {
                        "x": 2185.0146484375,
                        "y": 2467.847900390625,
                        "z": 364.8494873046875
                    },
                    "rotation": {
                        "roll": -0.013000506907701492,
                        "pitch": 0.5141834616661072,
                        "yaw": 88.578857421875
                    }
                },
                "velocity": {
                    "x": 0.004108153283596039,
                    "y": 2.0369489192962646,
                    "z": 0.018439751118421555
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00045973024680279195,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2479.0556640625,
                        "z": 364.9436340332031
                    },
                    "rotation": {
                        "roll": 0.0003739643143489957,
                        "pitch": 0.4492010176181793,
                        "yaw": 90.11725616455078
                    }
                },
                "velocity": {
                    "x": -1.346148746961262e-05,
                    "y": -2.0405872419360094e-05,
                    "z": 0.00045907983439974487
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08762271702289581,
        "expert_target_speed": 3.5322117989764967,
        "target_point": [
            22.57326457116954,
            -0.332292330865984
        ],
        "target_point_next": [
            31.62273054894968,
            8.471287923492305
        ]
    },
    "160": {
        "acceleration": [
            -0.007232949137687683,
            2.8440141677856445,
            0.01062106341123581
        ],
        "angular_velocity": [
            0.0899900272488594,
            -0.06125993654131889,
            -0.8354880213737488
        ],
        "forward_vector": [
            -0.013492099940776825,
            0.9998472332954407,
            0.011112460866570473
        ],
        "right_vector": [
            -0.999908983707428,
            -0.013491817750036716,
            -0.0001003807337838225
        ],
        "location": [
            2185.046875,
            2493.635498046875,
            365.0339660644531
        ],
        "rotation": [
            0.005751747637987137,
            0.6367102265357971,
            90.77310943603516
        ],
        "velocity": [
            -0.036447905004024506,
            3.024928331375122,
            0.018156498670578003
        ],
        "speed": 3.025147907084059,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 58.62617492675781,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2137.06005859375,
                2527.31396484375,
                364.7994689941406
            ],
            "velocity": [
                3.4039454460144043,
                0.036529991775751114,
                -0.01102178543806076
            ],
            "speed_kmh": 12.254973469276166,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.786865234375,
                        "y": 2566.93994140625,
                        "z": 365.1038513183594
                    },
                    "rotation": {
                        "roll": 1.334035371058917e-08,
                        "pitch": 0.26409608125686646,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.207769393920898,
                "transform": {
                    "location": {
                        "x": 2185.109375,
                        "y": 2448.455322265625,
                        "z": 364.6380310058594
                    },
                    "rotation": {
                        "roll": 0.006378641352057457,
                        "pitch": 0.6772610545158386,
                        "yaw": 90.5796127319336
                    }
                },
                "velocity": {
                    "x": -0.04147573560476303,
                    "y": 5.207263469696045,
                    "z": 0.05956929922103882
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.4041590690612793,
                "transform": {
                    "location": {
                        "x": 2137.06005859375,
                        "y": 2527.31396484375,
                        "z": 364.7994689941406
                    },
                    "rotation": {
                        "roll": -0.007263183128088713,
                        "pitch": -0.010620943270623684,
                        "yaw": 0.39559751749038696
                    }
                },
                "velocity": {
                    "x": 3.4039454460144043,
                    "y": 0.036529991775751114,
                    "z": -0.01102178543806076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.215789556503296,
                "transform": {
                    "location": {
                        "x": 2236.149658203125,
                        "y": 2524.323974609375,
                        "z": 366.5439453125
                    },
                    "rotation": {
                        "roll": -0.0036621089093387127,
                        "pitch": -1.9072209596633911,
                        "yaw": -179.91575622558594
                    }
                },
                "velocity": {
                    "x": -3.2140884399414062,
                    "y": -0.02490926906466484,
                    "z": -0.10157659649848938
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.356957889394835e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.5881470972090028e-05,
                    "y": 2.20959736907389e-05,
                    "z": 8.952549251262099e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006413976079784334,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 8.868984878063202e-06,
                    "y": -3.0181433885445585e-06,
                    "z": 0.00064132921397686
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050466537475586,
                "transform": {
                    "location": {
                        "x": 2187.995849609375,
                        "y": 2461.697021484375,
                        "z": 364.82159423828125
                    },
                    "rotation": {
                        "roll": 7.017301686573774e-05,
                        "pitch": -0.572021484375,
                        "yaw": -89.92388153076172
                    }
                },
                "velocity": {
                    "x": 0.012181052006781101,
                    "y": -8.05005168914795,
                    "z": -0.08081921190023422
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7956278324127197,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2468.357177734375,
                        "z": 364.8538513183594
                    },
                    "rotation": {
                        "roll": -0.011322020553052425,
                        "pitch": 0.5395371317863464,
                        "yaw": 88.8729476928711
                    }
                },
                "velocity": {
                    "x": 0.001616619061678648,
                    "y": 1.7955411672592163,
                    "z": 0.01756574586033821
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9049016777426004e-05,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2479.0556640625,
                        "z": 364.9436340332031
                    },
                    "rotation": {
                        "roll": 0.0003739643143489957,
                        "pitch": 0.4492010176181793,
                        "yaw": 90.11725616455078
                    }
                },
                "velocity": {
                    "x": 1.348879868601216e-05,
                    "y": -3.368124453118071e-05,
                    "z": -1.4437862773775123e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09392256289720535,
        "expert_target_speed": 4.160792530475186,
        "target_point": [
            21.893406963231875,
            -0.3396015129426197
        ],
        "target_point_next": [
            30.945586436631466,
            8.461188597001513
        ]
    },
    "165": {
        "acceleration": [
            -0.008790791034698486,
            3.505878448486328,
            0.013177506625652313
        ],
        "angular_velocity": [
            0.2426251471042633,
            0.00421172846108675,
            -0.15038736164569855
        ],
        "forward_vector": [
            -0.012268811464309692,
            0.9998515844345093,
            0.012094559147953987
        ],
        "right_vector": [
            -0.9999247789382935,
            -0.01226701121777296,
            -0.00022310810163617134
        ],
        "location": [
            2185.036865234375,
            2494.498291015625,
            365.03900146484375
        ],
        "rotation": [
            0.012784087099134922,
            0.6929841041564941,
            90.70301818847656
        ],
        "velocity": [
            -0.03786279261112213,
            3.863304615020752,
            0.02313067391514778
        ],
        "speed": 3.863490150046322,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 57.27061080932617,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2138.108642578125,
                2527.3251953125,
                364.7957458496094
            ],
            "velocity": [
                4.878424644470215,
                0.033488236367702484,
                -0.018041376024484634
            ],
            "speed_kmh": 17.5628625965808,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.7890625,
                        "y": 2564.855712890625,
                        "z": 365.1134338378906
                    },
                    "rotation": {
                        "roll": -6.6701515422096236e-09,
                        "pitch": 0.21146264672279358,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.892621994018555,
                "transform": {
                    "location": {
                        "x": 2185.098388671875,
                        "y": 2449.82177734375,
                        "z": 364.6537170410156
                    },
                    "rotation": {
                        "roll": 0.004482025746256113,
                        "pitch": 0.6647959351539612,
                        "yaw": 90.47937774658203
                    }
                },
                "velocity": {
                    "x": -0.04418110102415085,
                    "y": 5.892084121704102,
                    "z": 0.06624794006347656
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.878572940826416,
                "transform": {
                    "location": {
                        "x": 2138.108642578125,
                        "y": 2527.3251953125,
                        "z": 364.7957458496094
                    },
                    "rotation": {
                        "roll": 0.0018387282034382224,
                        "pitch": 0.010812188498675823,
                        "yaw": 0.5137356519699097
                    }
                },
                "velocity": {
                    "x": 4.878424644470215,
                    "y": 0.033488236367702484,
                    "z": -0.018041376024484634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.384885311126709,
                "transform": {
                    "location": {
                        "x": 2235.1953125,
                        "y": 2524.31787109375,
                        "z": 366.51409912109375
                    },
                    "rotation": {
                        "roll": -0.008544920943677425,
                        "pitch": -1.8673394918441772,
                        "yaw": -179.78199768066406
                    }
                },
                "velocity": {
                    "x": -4.382705211639404,
                    "y": -0.03374849632382393,
                    "z": -0.13407516479492188
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00028773880330845714,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 8.913800229493063e-06,
                    "y": -1.205876401400019e-06,
                    "z": -0.0002875981735996902
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002711121633183211,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.2467224880529102e-07,
                    "y": -1.2742119906761218e-05,
                    "z": 0.0002708124811761081
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.01570987701416,
                "transform": {
                    "location": {
                        "x": 2187.997802734375,
                        "y": 2459.68896484375,
                        "z": 364.8014831542969
                    },
                    "rotation": {
                        "roll": 0.0003853649250231683,
                        "pitch": -0.5769938826560974,
                        "yaw": -89.92150115966797
                    }
                },
                "velocity": {
                    "x": 0.010982801206409931,
                    "y": -8.015275955200195,
                    "z": -0.08263865113258362
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.004283905029297,
                "transform": {
                    "location": {
                        "x": 2185.01904296875,
                        "y": 2468.8046875,
                        "z": 364.8581848144531
                    },
                    "rotation": {
                        "roll": -0.00875854678452015,
                        "pitch": 0.5124417543411255,
                        "yaw": 89.08586883544922
                    }
                },
                "velocity": {
                    "x": 0.0030920873396098614,
                    "y": 2.004201889038086,
                    "z": 0.017874326556921005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.33389633893966675,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2479.07958984375,
                        "z": 364.944091796875
                    },
                    "rotation": {
                        "roll": 0.0009576933225616813,
                        "pitch": 0.4235195219516754,
                        "yaw": 90.1181640625
                    }
                },
                "velocity": {
                    "x": -0.0007930131978355348,
                    "y": 0.3338854908943176,
                    "z": 0.0025708102621138096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10374104231595993,
        "expert_target_speed": 4.962733610540754,
        "target_point": [
            21.030956153082165,
            -0.31217709710725416
        ],
        "target_point_next": [
            30.07233531089756,
            8.499708212095811
        ]
    },
    "170": {
        "acceleration": [
            0.03327313810586929,
            3.0374908447265625,
            0.020525716245174408
        ],
        "angular_velocity": [
            -0.047219015657901764,
            -0.028056127950549126,
            -0.6531617641448975
        ],
        "forward_vector": [
            -0.009842103347182274,
            0.9998729825019836,
            0.012532859109342098
        ],
        "right_vector": [
            -0.9999515414237976,
            -0.009838109835982323,
            -0.0003802096180152148
        ],
        "location": [
            2185.02783203125,
            2495.57177734375,
            365.0455322265625
        ],
        "rotation": [
            0.021786117926239967,
            0.7180987000465393,
            90.56396484375
        ],
        "velocity": [
            -0.029961979016661644,
            4.669294834136963,
            0.027246931567788124
        ],
        "speed": 4.669390963314672,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 55.563865661621094,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2139.437744140625,
                2527.333740234375,
                364.7908935546875
            ],
            "velocity": [
                5.461228370666504,
                0.03338267654180527,
                -0.021322470158338547
            ],
            "speed_kmh": 19.660939280754036,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.620649337768555,
                "transform": {
                    "location": {
                        "x": 2187.79736328125,
                        "y": 2563.089599609375,
                        "z": 365.1205749511719
                    },
                    "rotation": {
                        "roll": -0.0526122972369194,
                        "pitch": -0.27392470836639404,
                        "yaw": -89.70108032226562
                    }
                },
                "velocity": {
                    "x": 0.0692831426858902,
                    "y": -6.620267391204834,
                    "z": 0.015929488465189934
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 6.9383392333984375,
                "transform": {
                    "location": {
                        "x": 2185.085693359375,
                        "y": 2451.4384765625,
                        "z": 364.6717224121094
                    },
                    "rotation": {
                        "roll": 0.003684774274006486,
                        "pitch": 0.6821719408035278,
                        "yaw": 90.37886810302734
                    }
                },
                "velocity": {
                    "x": -0.048346467316150665,
                    "y": 6.937729358673096,
                    "z": 0.07824840396642685
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.461371898651123,
                "transform": {
                    "location": {
                        "x": 2139.437744140625,
                        "y": 2527.333740234375,
                        "z": 364.7908935546875
                    },
                    "rotation": {
                        "roll": 0.002332327188923955,
                        "pitch": -0.09911970049142838,
                        "yaw": 0.4012461006641388
                    }
                },
                "velocity": {
                    "x": 5.461228370666504,
                    "y": 0.03338267654180527,
                    "z": -0.021322470158338547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.175937652587891,
                "transform": {
                    "location": {
                        "x": 2233.963623046875,
                        "y": 2524.309326171875,
                        "z": 366.4764404296875
                    },
                    "rotation": {
                        "roll": -0.012664794921875,
                        "pitch": -1.8380720615386963,
                        "yaw": -179.67710876464844
                    }
                },
                "velocity": {
                    "x": -5.173391819000244,
                    "y": -0.03967800363898277,
                    "z": -0.15739938616752625
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013112953456584364,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 4.809237907466013e-06,
                    "y": -1.5987492588465102e-05,
                    "z": -0.00013006239896640182
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.0403654313413426e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.2936070561408997e-06,
                    "y": -1.2144776519562583e-05,
                    "z": -4.8901525588007644e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050549507141113,
                "transform": {
                    "location": {
                        "x": 2188.0,
                        "y": 2457.6806640625,
                        "z": 364.7808532714844
                    },
                    "rotation": {
                        "roll": 0.00041567752487026155,
                        "pitch": -0.6051068902015686,
                        "yaw": -89.91949462890625
                    }
                },
                "velocity": {
                    "x": 0.012867268174886703,
                    "y": -8.050103187561035,
                    "z": -0.08374576270580292
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2665958404541016,
                "transform": {
                    "location": {
                        "x": 2185.020263671875,
                        "y": 2469.3017578125,
                        "z": 364.8620910644531
                    },
                    "rotation": {
                        "roll": -0.007873513735830784,
                        "pitch": 0.5483343601226807,
                        "yaw": 89.25638580322266
                    }
                },
                "velocity": {
                    "x": 0.002666763262823224,
                    "y": 1.2665284872055054,
                    "z": 0.012789125554263592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1888835430145264,
                "transform": {
                    "location": {
                        "x": 2185.034912109375,
                        "y": 2479.279541015625,
                        "z": 364.9460144042969
                    },
                    "rotation": {
                        "roll": 0.00012842888827435672,
                        "pitch": 0.36850234866142273,
                        "yaw": 90.07405090332031
                    }
                },
                "velocity": {
                    "x": -0.0013914756709709764,
                    "y": 1.1888465881347656,
                    "z": 0.009268540889024734
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.10400186479091644,
        "expert_target_speed": 5.712818257320451,
        "target_point": [
            19.958127037947985,
            -0.25972694846658306
        ],
        "target_point_next": [
            28.978147008911307,
            8.574020812328394
        ]
    },
    "175": {
        "acceleration": [
            0.09761293232440948,
            -2.884225845336914,
            -0.03484480082988739
        ],
        "angular_velocity": [
            -1.771947979927063,
            -0.024369793012738228,
            -0.967424213886261
        ],
        "forward_vector": [
            -0.005889168009161949,
            0.99993896484375,
            0.009348494932055473
        ],
        "right_vector": [
            -0.9999825358390808,
            -0.00588431628420949,
            -0.0005464032874442637
        ],
        "location": [
            2185.02294921875,
            2496.78271484375,
            365.0531921386719
        ],
        "rotation": [
            0.031307969242334366,
            0.5356370806694031,
            90.33744049072266
        ],
        "velocity": [
            -0.004119727294892073,
            4.709756374359131,
            0.026546142995357513
        ],
        "speed": 4.709758176166739,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 53.66474151611328,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2140.909912109375,
                2527.342041015625,
                364.7852783203125
            ],
            "velocity": [
                6.931707382202148,
                0.03921814262866974,
                -0.026232276111841202
            ],
            "speed_kmh": 24.954724659277677,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.3767170906066895,
                "transform": {
                    "location": {
                        "x": 2187.81640625,
                        "y": 2561.46337890625,
                        "z": 365.12408447265625
                    },
                    "rotation": {
                        "roll": -0.040924072265625,
                        "pitch": 0.015142528340220451,
                        "yaw": -89.35851287841797
                    }
                },
                "velocity": {
                    "x": 0.08821456879377365,
                    "y": -6.376081466674805,
                    "z": 0.01805465668439865
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.472957611083984,
                "transform": {
                    "location": {
                        "x": 2185.0751953125,
                        "y": 2453.280517578125,
                        "z": 364.6922912597656
                    },
                    "rotation": {
                        "roll": 0.0031387549825012684,
                        "pitch": 0.6518322229385376,
                        "yaw": 90.2767333984375
                    }
                },
                "velocity": {
                    "x": -0.03305479884147644,
                    "y": 7.472452163696289,
                    "z": 0.08038651943206787
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.931868076324463,
                "transform": {
                    "location": {
                        "x": 2140.909912109375,
                        "y": 2527.342041015625,
                        "z": 364.7852783203125
                    },
                    "rotation": {
                        "roll": 0.0016044721705839038,
                        "pitch": 0.0043576606549322605,
                        "yaw": 0.3574535548686981
                    }
                },
                "velocity": {
                    "x": 6.931707382202148,
                    "y": 0.03921814262866974,
                    "z": -0.026232276111841202
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.890268325805664,
                "transform": {
                    "location": {
                        "x": 2232.590576171875,
                        "y": 2524.299072265625,
                        "z": 366.4341735839844
                    },
                    "rotation": {
                        "roll": -0.014038082212209702,
                        "pitch": -1.810450792312622,
                        "yaw": -179.63182067871094
                    }
                },
                "velocity": {
                    "x": -5.887325763702393,
                    "y": -0.04589192196726799,
                    "z": -0.18040426075458527
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010349966760259122,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 9.510069503448904e-06,
                    "y": 1.1834172255476005e-05,
                    "z": 0.00010238013055641204
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001738302526064217,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 4.6264008233265486e-06,
                    "y": 2.1085609205329092e-06,
                    "z": 0.00017375587776768953
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014695167541504,
                "transform": {
                    "location": {
                        "x": 2188.002197265625,
                        "y": 2455.6728515625,
                        "z": 364.7596130371094
                    },
                    "rotation": {
                        "roll": -0.0003051880921702832,
                        "pitch": -0.611383855342865,
                        "yaw": -89.91720581054688
                    }
                },
                "velocity": {
                    "x": 0.01152351126074791,
                    "y": -8.01424789428711,
                    "z": -0.08393865078687668
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015171992126852274,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2469.326416015625,
                        "z": 364.8617858886719
                    },
                    "rotation": {
                        "roll": -0.009216305799782276,
                        "pitch": 0.6204885244369507,
                        "yaw": 89.2734375
                    }
                },
                "velocity": {
                    "x": -8.542511204723269e-05,
                    "y": -0.00087481748778373,
                    "z": 0.0012366448063403368
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.009793519973755,
                "transform": {
                    "location": {
                        "x": 2185.034912109375,
                        "y": 2479.68212890625,
                        "z": 364.9491271972656
                    },
                    "rotation": {
                        "roll": 0.00014096882659941912,
                        "pitch": 0.36120086908340454,
                        "yaw": 90.07103729248047
                    }
                },
                "velocity": {
                    "x": -0.003701483830809593,
                    "y": 2.0097408294677734,
                    "z": 0.014082688838243484
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.09571907669305801,
        "expert_target_speed": 5.7442796768397715,
        "target_point": [
            18.748052887712056,
            -0.17854334945387312
        ],
        "target_point_next": [
            27.733065930543056,
            8.690808396760968
        ]
    },
    "180": {
        "acceleration": [
            0.053203366696834564,
            -3.5829544067382812,
            -0.028693974018096924
        ],
        "angular_velocity": [
            -1.0953630208969116,
            0.07065946608781815,
            -0.5014229416847229
        ],
        "forward_vector": [
            -0.0020766621455550194,
            0.9999950528144836,
            0.0023781037889420986
        ],
        "right_vector": [
            -0.9999977350234985,
            -0.0020756444428116083,
            -0.00043025403283536434
        ],
        "location": [
            2185.0234375,
            2497.838623046875,
            365.06048583984375
        ],
        "rotation": [
            0.02465180866420269,
            0.1362554430961609,
            90.11898803710938
        ],
        "velocity": [
            0.012974709272384644,
            3.7987587451934814,
            0.02086922526359558
        ],
        "speed": 3.7987809027719215,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 51.485382080078125,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2142.83837890625,
                2527.352783203125,
                364.77789306640625
            ],
            "velocity": [
                8.1982421875,
                0.04368496686220169,
                -0.029569415375590324
            ],
            "speed_kmh": 29.51428284208546,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.684395790100098,
                "transform": {
                    "location": {
                        "x": 2187.835205078125,
                        "y": 2559.883056640625,
                        "z": 365.12933349609375
                    },
                    "rotation": {
                        "roll": 0.010786621831357479,
                        "pitch": -0.050413623452186584,
                        "yaw": -89.35818481445312
                    }
                },
                "velocity": {
                    "x": 0.05392274633049965,
                    "y": -5.684104919433594,
                    "z": 0.01997019723057747
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 7.361403942108154,
                "transform": {
                    "location": {
                        "x": 2185.06689453125,
                        "y": 2455.19970703125,
                        "z": 364.71343994140625
                    },
                    "rotation": {
                        "roll": 0.0036722575314342976,
                        "pitch": 0.6036384105682373,
                        "yaw": 90.2189712524414
                    }
                },
                "velocity": {
                    "x": -0.027320029214024544,
                    "y": 7.360929489135742,
                    "z": 0.07895517349243164
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.19841194152832,
                "transform": {
                    "location": {
                        "x": 2142.83837890625,
                        "y": 2527.352783203125,
                        "z": 364.77789306640625
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.008940717205405235,
                        "yaw": 0.320583701133728
                    }
                },
                "velocity": {
                    "x": 8.1982421875,
                    "y": 0.04368496686220169,
                    "z": -0.029569415375590324
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.119684219360352,
                "transform": {
                    "location": {
                        "x": 2231.025390625,
                        "y": 2524.2890625,
                        "z": 366.38677978515625
                    },
                    "rotation": {
                        "roll": -0.0214843712747097,
                        "pitch": -1.876307487487793,
                        "yaw": -179.67832946777344
                    }
                },
                "velocity": {
                    "x": -7.11627197265625,
                    "y": -0.020953241735696793,
                    "z": -0.21940451860427856
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.778076171875,
                        "y": 2575.308837890625,
                        "z": 365.071044921875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002811540034599602,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 8.19064644019818e-06,
                    "y": 1.4332688806462102e-05,
                    "z": -0.0002806689590215683
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015179329784587026,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.1879577868967317e-05,
                    "y": 1.1512417586345691e-05,
                    "z": 0.00015088918735273182
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.052083015441895,
                "transform": {
                    "location": {
                        "x": 2188.004150390625,
                        "y": 2453.66455078125,
                        "z": 364.7379150390625
                    },
                    "rotation": {
                        "roll": 0.000436384289059788,
                        "pitch": -0.6245729327201843,
                        "yaw": -89.92144775390625
                    }
                },
                "velocity": {
                    "x": 0.010956496000289917,
                    "y": -8.05158519744873,
                    "z": -0.08888280391693115
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.28228819370269775,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2469.346435546875,
                        "z": 364.8630065917969
                    },
                    "rotation": {
                        "roll": -0.006164508871734142,
                        "pitch": 0.5022374391555786,
                        "yaw": 89.28585052490234
                    }
                },
                "velocity": {
                    "x": 0.0009517947328276932,
                    "y": 0.2822754383087158,
                    "z": 0.0025078582111746073
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2996301651000977,
                "transform": {
                    "location": {
                        "x": 2185.032958984375,
                        "y": 2480.249755859375,
                        "z": 364.9529113769531
                    },
                    "rotation": {
                        "roll": 7.676138920942321e-05,
                        "pitch": 0.39281782507896423,
                        "yaw": 90.08073425292969
                    }
                },
                "velocity": {
                    "x": -0.003830182831734419,
                    "y": 2.299562692642212,
                    "z": 0.01718052849173546
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.08470039814710617,
        "expert_target_speed": 4.887750380793379,
        "target_point": [
            17.69269602306306,
            -0.10377080674161816
        ],
        "target_point_next": [
            26.643521179544262,
            8.800081662612909
        ]
    },
    "185": {
        "acceleration": [
            0.01784440129995346,
            -3.0104541778564453,
            -0.010802634060382843
        ],
        "angular_velocity": [
            -0.22992955148220062,
            0.0411006361246109,
            -1.3627263307571411
        ],
        "forward_vector": [
            0.0011945522855967283,
            0.9999992847442627,
            -9.21487808227539e-05
        ],
        "right_vector": [
            -0.9999992251396179,
            0.0011945273727178574,
            -0.00026931840693578124
        ],
        "location": [
            2185.027099609375,
            2498.6806640625,
            365.0656433105469
        ],
        "rotation": [
            0.015430808998644352,
            -0.005279736127704382,
            89.93155670166016
        ],
        "velocity": [
            0.020302554592490196,
            3.000502586364746,
            0.016916265711188316
        ],
        "speed": 3.000571273025274,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 49.32002639770508,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2144.903076171875,
                2527.35888671875,
                364.7698669433594
            ],
            "velocity": [
                8.12518310546875,
                0.016991155222058296,
                -0.03139727935194969
            ],
            "speed_kmh": 29.250941520184966,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.120011329650879,
                "transform": {
                    "location": {
                        "x": 2187.84765625,
                        "y": 2558.56201171875,
                        "z": 365.1338195800781
                    },
                    "rotation": {
                        "roll": 0.008383548818528652,
                        "pitch": -0.12246528267860413,
                        "yaw": -89.63216400146484
                    }
                },
                "velocity": {
                    "x": 0.04091690108180046,
                    "y": -5.119816780090332,
                    "z": 0.017785634845495224
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.363607406616211,
                "transform": {
                    "location": {
                        "x": 2185.059814453125,
                        "y": 2456.862548828125,
                        "z": 364.73138427734375
                    },
                    "rotation": {
                        "roll": 0.0005622364114969969,
                        "pitch": 0.5559090375900269,
                        "yaw": 90.04765319824219
                    }
                },
                "velocity": {
                    "x": -0.013607562519609928,
                    "y": 5.363292217254639,
                    "z": 0.05651255324482918
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.125261306762695,
                "transform": {
                    "location": {
                        "x": 2144.903076171875,
                        "y": 2527.35888671875,
                        "z": 364.7698669433594
                    },
                    "rotation": {
                        "roll": 0.007385256700217724,
                        "pitch": -0.17447033524513245,
                        "yaw": 0.15067821741104126
                    }
                },
                "velocity": {
                    "x": 8.12518310546875,
                    "y": 0.016991155222058296,
                    "z": -0.03139727935194969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.343213081359863,
                "transform": {
                    "location": {
                        "x": 2229.06201171875,
                        "y": 2524.28271484375,
                        "z": 366.3256530761719
                    },
                    "rotation": {
                        "roll": -0.01275634579360485,
                        "pitch": -1.914788842201233,
                        "yaw": -179.7877960205078
                    }
                },
                "velocity": {
                    "x": -8.339086532592773,
                    "y": -0.02211555279791355,
                    "z": -0.26144474744796753
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.779541015625,
                        "y": 2574.092041015625,
                        "z": 365.07440185546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010866445518331602,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 3.5304574339534156e-06,
                    "y": -5.6143567235267255e-06,
                    "z": -0.00010846187797142193
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002220456226496026,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.3296677934704348e-05,
                    "y": 9.484458132646978e-06,
                    "z": 0.00022144413378555328
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.014498710632324,
                "transform": {
                    "location": {
                        "x": 2188.006103515625,
                        "y": 2451.65673828125,
                        "z": 364.71575927734375
                    },
                    "rotation": {
                        "roll": -0.0014343525981530547,
                        "pitch": -0.6523445248603821,
                        "yaw": -89.9215316772461
                    }
                },
                "velocity": {
                    "x": 0.010969005525112152,
                    "y": -8.013998985290527,
                    "z": -0.08877013623714447
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1188852787017822,
                "transform": {
                    "location": {
                        "x": 2185.021484375,
                        "y": 2469.52685546875,
                        "z": 364.864990234375
                    },
                    "rotation": {
                        "roll": -0.0035705992486327887,
                        "pitch": 0.43837517499923706,
                        "yaw": 89.38508605957031
                    }
                },
                "velocity": {
                    "x": 0.0007171272300183773,
                    "y": 1.1188459396362305,
                    "z": 0.009362459182739258
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8224459886550903,
                "transform": {
                    "location": {
                        "x": 2185.033203125,
                        "y": 2480.7607421875,
                        "z": 364.9561767578125
                    },
                    "rotation": {
                        "roll": -2.6681306053433218e-08,
                        "pitch": 0.4652314782142639,
                        "yaw": 90.08425903320312
                    }
                },
                "velocity": {
                    "x": -0.0033215624280273914,
                    "y": 1.8223936557769775,
                    "z": 0.013409738428890705
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07530514150857925,
        "expert_target_speed": 4.119124384813857,
        "target_point": [
            16.85089453077965,
            -0.0438102227632145
        ],
        "target_point_next": [
            25.77283395429312,
            8.888986467024568
        ]
    },
    "190": {
        "acceleration": [
            0.0061041489243507385,
            -0.757298469543457,
            0.007725711911916733
        ],
        "angular_velocity": [
            0.5710620284080505,
            0.05665942281484604,
            0.5426166653633118
        ],
        "forward_vector": [
            0.0027898068074136972,
            0.9999958276748657,
            0.000770687940530479
        ],
        "right_vector": [
            -0.9999961256980896,
            0.002789834514260292,
            -3.4677705116337165e-05
        ],
        "location": [
            2185.031005859375,
            2499.362548828125,
            365.0691223144531
        ],
        "rotation": [
            0.001986886840313673,
            0.04415716975927353,
            89.84015655517578
        ],
        "velocity": [
            0.015396473929286003,
            2.572890281677246,
            0.013849420472979546
        ],
        "speed": 2.5729363484079184,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 47.31318283081055,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2146.893310546875,
                2527.36181640625,
                364.7621765136719
            ],
            "velocity": [
                7.933084487915039,
                0.008347750641405582,
                -0.030083397403359413
            ],
            "speed_kmh": 28.559325312028513,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.908049583435059,
                "transform": {
                    "location": {
                        "x": 2187.857421875,
                        "y": 2557.240234375,
                        "z": 365.13677978515625
                    },
                    "rotation": {
                        "roll": 0.00814453512430191,
                        "pitch": 0.19700314104557037,
                        "yaw": -89.6173324584961
                    }
                },
                "velocity": {
                    "x": 0.04296927526593208,
                    "y": -5.907867908477783,
                    "z": 0.017224932089447975
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.1485086977481842,
                "transform": {
                    "location": {
                        "x": 2185.057861328125,
                        "y": 2457.55517578125,
                        "z": 364.7394104003906
                    },
                    "rotation": {
                        "roll": -6.1019989516353235e-05,
                        "pitch": 0.44734320044517517,
                        "yaw": 89.8323745727539
                    }
                },
                "velocity": {
                    "x": 0.0014371840516105294,
                    "y": 0.14849403500556946,
                    "z": 0.0015134334098547697
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.933145999908447,
                "transform": {
                    "location": {
                        "x": 2146.893310546875,
                        "y": 2527.36181640625,
                        "z": 364.7621765136719
                    },
                    "rotation": {
                        "roll": 0.004986919928342104,
                        "pitch": -0.23288211226463318,
                        "yaw": 0.07174264639616013
                    }
                },
                "velocity": {
                    "x": 7.933084487915039,
                    "y": 0.008347750641405582,
                    "z": -0.030083397403359413
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.064541816711426,
                "transform": {
                    "location": {
                        "x": 2226.99609375,
                        "y": 2524.27685546875,
                        "z": 366.2607727050781
                    },
                    "rotation": {
                        "roll": -0.009735107421875,
                        "pitch": -1.773069143295288,
                        "yaw": -179.83544921875
                    }
                },
                "velocity": {
                    "x": -8.06069564819336,
                    "y": -0.02109997719526291,
                    "z": -0.2481497973203659
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78076171875,
                        "y": 2572.90869140625,
                        "z": 365.07769775390625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001552338362671435,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.5196911590464879e-05,
                    "y": 1.348754722130252e-05,
                    "z": 0.00015389829059131444
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007133884937502444,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.0404941096785478e-05,
                    "y": 3.125524244751432e-06,
                    "z": 0.0007130897138267756
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 8.050443649291992,
                "transform": {
                    "location": {
                        "x": 2188.008056640625,
                        "y": 2449.6484375,
                        "z": 364.693115234375
                    },
                    "rotation": {
                        "roll": -0.0008849665755406022,
                        "pitch": -0.6498719453811646,
                        "yaw": -89.92144012451172
                    }
                },
                "velocity": {
                    "x": 0.010991225019097328,
                    "y": -8.049908638000488,
                    "z": -0.09220824390649796
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9194633960723877,
                "transform": {
                    "location": {
                        "x": 2185.022216796875,
                        "y": 2469.90673828125,
                        "z": 364.86846923828125
                    },
                    "rotation": {
                        "roll": -0.002899160608649254,
                        "pitch": 0.4230755567550659,
                        "yaw": 89.45597076416016
                    }
                },
                "velocity": {
                    "x": 0.0028326164465397596,
                    "y": 1.91939115524292,
                    "z": 0.016406841576099396
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.118769884109497,
                "transform": {
                    "location": {
                        "x": 2185.0322265625,
                        "y": 2481.246826171875,
                        "z": 364.9602966308594
                    },
                    "rotation": {
                        "roll": 0.00032747030491009355,
                        "pitch": 0.4029948115348816,
                        "yaw": 90.0889663696289
                    }
                },
                "velocity": {
                    "x": -0.0039471290074288845,
                    "y": 2.118722677230835,
                    "z": 0.013551006093621254
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.06965461373329163,
        "expert_target_speed": 3.7010414320147498,
        "target_point": [
            16.169049850787044,
            -0.015049121652178213
        ],
        "target_point_next": [
            25.076796066169695,
            8.931901036936134
        ]
    },
    "195": {
        "acceleration": [
            0.019752345979213715,
            1.0022878646850586,
            0.013466458767652512
        ],
        "angular_velocity": [
            0.7506705522537231,
            0.027272919192910194,
            -1.0927520990371704
        ],
        "forward_vector": [
            0.004225047305226326,
            0.9999837279319763,
            0.003825178137049079
        ],
        "right_vector": [
            -0.9999910593032837,
            0.00422519538551569,
            -3.059697337448597e-05
        ],
        "location": [
            2185.03466796875,
            2500.010009765625,
            365.07177734375
        ],
        "rotation": [
            0.0017530902987346053,
            0.219167098402977,
            89.75791931152344
        ],
        "velocity": [
            0.018924621865153313,
            2.664151906967163,
            0.013871164061129093
        ],
        "speed": 2.6642191210014072,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 45.320068359375,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2148.901123046875,
                2527.36279296875,
                364.7545471191406
            ],
            "velocity": [
                8.041632652282715,
                -0.0013046754756942391,
                -0.030018743127584457
            ],
            "speed_kmh": 28.950079631949905,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.905701160430908,
                "transform": {
                    "location": {
                        "x": 2187.869873046875,
                        "y": 2555.5283203125,
                        "z": 365.1402282714844
                    },
                    "rotation": {
                        "roll": 0.009762031957507133,
                        "pitch": 0.5258699059486389,
                        "yaw": -89.60375213623047
                    }
                },
                "velocity": {
                    "x": 0.040396321564912796,
                    "y": -6.90556001663208,
                    "z": 0.01772778481245041
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5157185792922974,
                "transform": {
                    "location": {
                        "x": 2185.058349609375,
                        "y": 2457.6201171875,
                        "z": 364.7389831542969
                    },
                    "rotation": {
                        "roll": -0.0004272546211723238,
                        "pitch": 0.567848265171051,
                        "yaw": 89.87086486816406
                    }
                },
                "velocity": {
                    "x": -0.0003934268606826663,
                    "y": 0.5156907439231873,
                    "z": 0.005345258396118879
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041688919067383,
                "transform": {
                    "location": {
                        "x": 2148.901123046875,
                        "y": 2527.36279296875,
                        "z": 364.7545471191406
                    },
                    "rotation": {
                        "roll": 0.00458183279260993,
                        "pitch": -0.2087988704442978,
                        "yaw": 0.013335769064724445
                    }
                },
                "velocity": {
                    "x": 8.041632652282715,
                    "y": -0.0013046754756942391,
                    "z": -0.030018743127584457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.965397834777832,
                "transform": {
                    "location": {
                        "x": 2225.006591796875,
                        "y": 2524.27392578125,
                        "z": 366.19921875
                    },
                    "rotation": {
                        "roll": -0.009643553756177425,
                        "pitch": -1.7242947816848755,
                        "yaw": -179.92149353027344
                    }
                },
                "velocity": {
                    "x": -7.961688041687012,
                    "y": -0.001361701637506485,
                    "z": -0.2430708259344101
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.78271484375,
                        "y": 2571.049560546875,
                        "z": 365.0838928222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.3167431652545929,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010377610306022689,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 6.737485364283202e-06,
                    "y": -7.550298505520914e-06,
                    "z": 0.00010328154894523323
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0918856534990482e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 9.491741366218776e-06,
                    "y": -1.7127033515862422e-06,
                    "z": 1.8562652257969603e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.751761436462402,
                "transform": {
                    "location": {
                        "x": 2188.01025390625,
                        "y": 2447.662841796875,
                        "z": 364.6705627441406
                    },
                    "rotation": {
                        "roll": -0.0010375952115282416,
                        "pitch": -0.681727945804596,
                        "yaw": -89.91976928710938
                    }
                },
                "velocity": {
                    "x": 0.012151123955845833,
                    "y": -7.751214027404785,
                    "z": -0.09132499247789383
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0238149166107178,
                "transform": {
                    "location": {
                        "x": 2185.02294921875,
                        "y": 2470.4453125,
                        "z": 364.8727111816406
                    },
                    "rotation": {
                        "roll": -0.0022278118412941694,
                        "pitch": 0.47480741143226624,
                        "yaw": 89.55757904052734
                    }
                },
                "velocity": {
                    "x": 0.0027228884864598513,
                    "y": 2.023736000061035,
                    "z": 0.01764068566262722
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2440552711486816,
                "transform": {
                    "location": {
                        "x": 2185.03173828125,
                        "y": 2481.7861328125,
                        "z": 364.9642028808594
                    },
                    "rotation": {
                        "roll": 0.0003164507797919214,
                        "pitch": 0.3972301185131073,
                        "yaw": 90.08939361572266
                    }
                },
                "velocity": {
                    "x": -0.0034015330020338297,
                    "y": 2.2439992427825928,
                    "z": 0.015492810867726803
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05924442410469055,
        "expert_target_speed": 3.7868586441666103,
        "target_point": [
            15.521584081068633,
            0.009240191328835856
        ],
        "target_point_next": [
            24.416392165313674,
            8.96905318727783
        ]
    },
    "200": {
        "acceleration": [
            0.03502272069454193,
            2.1810483932495117,
            0.004549399018287659
        ],
        "angular_velocity": [
            0.6217204332351685,
            0.0061768353916704655,
            0.30685508251190186
        ],
        "forward_vector": [
            0.00550417322665453,
            0.9999622106552124,
            0.006727644242346287
        ],
        "right_vector": [
            -0.999984860420227,
            0.005504653323441744,
            -5.278177195577882e-05
        ],
        "location": [
            2185.0400390625,
            2500.726318359375,
            365.0749206542969
        ],
        "rotation": [
            0.0030242414213716984,
            0.3854685425758362,
            89.68462371826172
        ],
        "velocity": [
            0.02627461776137352,
            3.0861194133758545,
            0.014145984314382076
        ],
        "speed": 3.0862312598303183,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 43.346736907958984,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2150.843994140625,
                2527.362060546875,
                364.7472839355469
            ],
            "velocity": [
                7.478084564208984,
                -0.00546913780272007,
                -0.022762179374694824
            ],
            "speed_kmh": 26.921236343071165,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.041990756988525,
                "transform": {
                    "location": {
                        "x": 2187.878173828125,
                        "y": 2553.902099609375,
                        "z": 365.14599609375
                    },
                    "rotation": {
                        "roll": 0.012472089380025864,
                        "pitch": 0.06356856971979141,
                        "yaw": -89.69857788085938
                    }
                },
                "velocity": {
                    "x": 0.02683960646390915,
                    "y": -6.0419135093688965,
                    "z": 0.01450580544769764
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.150672435760498,
                "transform": {
                    "location": {
                        "x": 2185.05908203125,
                        "y": 2457.83642578125,
                        "z": 364.74078369140625
                    },
                    "rotation": {
                        "roll": 0.0007392773986794055,
                        "pitch": 0.6171143651008606,
                        "yaw": 89.94992065429688
                    }
                },
                "velocity": {
                    "x": -0.0021951061207801104,
                    "y": 1.1506143808364868,
                    "z": 0.011352586559951305
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.478121280670166,
                "transform": {
                    "location": {
                        "x": 2150.843994140625,
                        "y": 2527.362060546875,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": 0.0027206232771277428,
                        "pitch": -0.27392470836639404,
                        "yaw": -0.0379028283059597
                    }
                },
                "velocity": {
                    "x": 7.478084564208984,
                    "y": -0.00546913780272007,
                    "z": -0.022762179374694824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.812014102935791,
                "transform": {
                    "location": {
                        "x": 2223.0234375,
                        "y": 2524.2734375,
                        "z": 366.1387023925781
                    },
                    "rotation": {
                        "roll": -0.004791258834302425,
                        "pitch": -1.734041452407837,
                        "yaw": -179.98150634765625
                    }
                },
                "velocity": {
                    "x": -7.808371543884277,
                    "y": 0.0010904300725087523,
                    "z": -0.23853473365306854
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.036808967590332,
                "transform": {
                    "location": {
                        "x": 2187.784423828125,
                        "y": 2569.49267578125,
                        "z": 365.094482421875
                    },
                    "rotation": {
                        "roll": -0.01162719912827015,
                        "pitch": -0.026391848921775818,
                        "yaw": -89.90422821044922
                    }
                },
                "velocity": {
                    "x": 0.03095025196671486,
                    "y": -5.036596775054932,
                    "z": 0.034371040761470795
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002872247132472694,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.4254935194912832e-05,
                    "y": -1.6353911632904783e-05,
                    "z": 0.00028640421805903316
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003388406476005912,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.248482567461906e-05,
                    "y": -3.394461032257823e-07,
                    "z": -0.0003386103780940175
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 7.27595329284668,
                "transform": {
                    "location": {
                        "x": 2188.012451171875,
                        "y": 2445.790283203125,
                        "z": 364.6491394042969
                    },
                    "rotation": {
                        "roll": -0.00015254395839292556,
                        "pitch": -0.7178664803504944,
                        "yaw": -89.91485595703125
                    }
                },
                "velocity": {
                    "x": 0.010870547033846378,
                    "y": -7.275460243225098,
                    "z": -0.0839899405837059
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6200571060180664,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2470.6455078125,
                        "z": 364.87335205078125
                    },
                    "rotation": {
                        "roll": -0.003448433242738247,
                        "pitch": 0.6199830770492554,
                        "yaw": 89.59970092773438
                    }
                },
                "velocity": {
                    "x": -8.76680678629782e-06,
                    "y": 0.6200358271598816,
                    "z": 0.005140447523444891
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8029577732086182,
                "transform": {
                    "location": {
                        "x": 2185.03173828125,
                        "y": 2482.28857421875,
                        "z": 364.9675598144531
                    },
                    "rotation": {
                        "roll": 0.00014310462574940175,
                        "pitch": 0.43752139806747437,
                        "yaw": 90.08985900878906
                    }
                },
                "velocity": {
                    "x": -0.0028727834578603506,
                    "y": 1.80290687084198,
                    "z": 0.013231944292783737
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.05185598507523537,
        "expert_target_speed": 4.191523881210069,
        "target_point": [
            14.805232077500987,
            0.0306045018874965
        ],
        "target_point_next": [
            23.68852091737807,
            9.001838484191305
        ]
    },
    "205": {
        "acceleration": [
            0.04839077591896057,
            2.4618148803710938,
            0.00100746750831604
        ],
        "angular_velocity": [
            0.31837236881256104,
            0.0018928394420072436,
            -0.8135973811149597
        ],
        "forward_vector": [
            0.007239425554871559,
            0.9999342560768127,
            0.008892775513231754
        ],
        "right_vector": [
            -0.9999737739562988,
            0.007240654900670052,
            -0.00010606785508571193
        ],
        "location": [
            2185.04736328125,
            2501.57861328125,
            365.0787353515625
        ],
        "rotation": [
            0.006077480502426624,
            0.5095252394676208,
            89.58518981933594
        ],
        "velocity": [
            0.03710411861538887,
            3.7021846771240234,
            0.01793406531214714
        ],
        "speed": 3.702370605321695,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 41.400230407714844,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2152.656494140625,
                2527.3603515625,
                364.7430419921875
            ],
            "velocity": [
                7.103254318237305,
                -0.006240741349756718,
                -0.017287597060203552
            ],
            "speed_kmh": 25.571801147705344,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.08294153213501,
                "transform": {
                    "location": {
                        "x": 2187.884521484375,
                        "y": 2552.5703125,
                        "z": 365.1499938964844
                    },
                    "rotation": {
                        "roll": 0.005868167150765657,
                        "pitch": -0.2152055948972702,
                        "yaw": -89.80767822265625
                    }
                },
                "velocity": {
                    "x": 0.019707687199115753,
                    "y": -5.082889080047607,
                    "z": 0.011919526383280754
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6492559909820557,
                "transform": {
                    "location": {
                        "x": 2185.05859375,
                        "y": 2458.18408203125,
                        "z": 364.7443542480469
                    },
                    "rotation": {
                        "roll": -0.0005493015050888062,
                        "pitch": 0.6143345236778259,
                        "yaw": 89.90637969970703
                    }
                },
                "velocity": {
                    "x": -0.0030256405007094145,
                    "y": 1.6491777896881104,
                    "z": 0.015777587890625
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.103278160095215,
                "transform": {
                    "location": {
                        "x": 2152.656494140625,
                        "y": 2527.3603515625,
                        "z": 364.7430419921875
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": -0.15106327831745148,
                        "yaw": -0.0502319261431694
                    }
                },
                "velocity": {
                    "x": 7.103254318237305,
                    "y": -0.006240741349756718,
                    "z": -0.017287597060203552
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.2932353019714355,
                "transform": {
                    "location": {
                        "x": 2221.206298828125,
                        "y": 2524.273193359375,
                        "z": 366.0821533203125
                    },
                    "rotation": {
                        "roll": -0.0023498532827943563,
                        "pitch": -1.5996370315551758,
                        "yaw": 179.9264678955078
                    }
                },
                "velocity": {
                    "x": -6.290325164794922,
                    "y": 0.005924099124968052,
                    "z": -0.19127579033374786
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.02044153213501,
                "transform": {
                    "location": {
                        "x": 2187.794921875,
                        "y": 2568.23828125,
                        "z": 365.10284423828125
                    },
                    "rotation": {
                        "roll": -0.0242309533059597,
                        "pitch": 0.09202996641397476,
                        "yaw": -89.62164306640625
                    }
                },
                "velocity": {
                    "x": 0.060249585658311844,
                    "y": -5.019965171813965,
                    "z": 0.03394334763288498
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.584215877112001e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.4251097582018701e-06,
                    "y": -3.123196438536979e-05,
                    "z": -9.059940930455923e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.8358366813045e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 7.445737537636887e-06,
                    "y": 8.366055226360913e-06,
                    "z": 9.77186718955636e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.97833776473999,
                "transform": {
                    "location": {
                        "x": 2188.014404296875,
                        "y": 2444.014404296875,
                        "z": 364.6282653808594
                    },
                    "rotation": {
                        "roll": -0.0007019088952802122,
                        "pitch": -0.708433985710144,
                        "yaw": -89.9172592163086
                    }
                },
                "velocity": {
                    "x": 0.009878783486783504,
                    "y": -6.97783088684082,
                    "z": -0.08351462334394455
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4763576984405518,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2470.917236328125,
                        "z": 364.8771667480469
                    },
                    "rotation": {
                        "roll": -0.0018615868175402284,
                        "pitch": 0.4345366060733795,
                        "yaw": 89.62203216552734
                    }
                },
                "velocity": {
                    "x": 0.002434502122923732,
                    "y": 1.47629714012146,
                    "z": 0.013150901533663273
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3186254501342773,
                "transform": {
                    "location": {
                        "x": 2185.03173828125,
                        "y": 2482.783935546875,
                        "z": 364.9717102050781
                    },
                    "rotation": {
                        "roll": -0.00045777930063195527,
                        "pitch": 0.37665075063705444,
                        "yaw": 90.0884017944336
                    }
                },
                "velocity": {
                    "x": -0.0037068899255245924,
                    "y": 2.318570852279663,
                    "z": 0.015472345054149628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.91058349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 6.049370782079677e-09,
                    "y": -1.329858966003794e-11,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.03810998797416687,
        "expert_target_speed": 4.767369169502273,
        "target_point": [
            13.95283143147773,
            0.05735078991293923
        ],
        "target_point_next": [
            22.820597776398476,
            9.0439285495397
        ]
    },
    "210": {
        "acceleration": [
            0.03908291459083557,
            2.11212158203125,
            0.019129551947116852
        ],
        "angular_velocity": [
            0.01953365094959736,
            0.004390984307974577,
            -0.2760910391807556
        ],
        "forward_vector": [
            0.009083884768188,
            0.9999136328697205,
            0.009499048814177513
        ],
        "right_vector": [
            -0.9999587535858154,
            0.009085489436984062,
            -0.00012574857100844383
        ],
        "location": [
            2185.05810546875,
            2502.579345703125,
            365.0837097167969
        ],
        "rotation": [
            0.00720518734306097,
            0.5442636013031006,
            89.47949981689453
        ],
        "velocity": [
            0.04976559057831764,
            4.263192176818848,
            0.022238196805119514
        ],
        "speed": 4.263482631663349,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 39.414730072021484,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2154.408447265625,
                2527.3583984375,
                364.74029541015625
            ],
            "velocity": [
                6.886165142059326,
                -0.00969426054507494,
                -0.005007619969546795
            ],
            "speed_kmh": 24.790225631603484,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.183692455291748,
                "transform": {
                    "location": {
                        "x": 2187.888427734375,
                        "y": 2551.27490234375,
                        "z": 365.15155029296875
                    },
                    "rotation": {
                        "roll": 0.004401051439344883,
                        "pitch": 0.004521585069596767,
                        "yaw": -89.8044662475586
                    }
                },
                "velocity": {
                    "x": 0.01776718720793724,
                    "y": -5.183652877807617,
                    "z": 0.009721498005092144
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.130159378051758,
                "transform": {
                    "location": {
                        "x": 2185.056884765625,
                        "y": 2458.6640625,
                        "z": 364.74920654296875
                    },
                    "rotation": {
                        "roll": -0.0031738143879920244,
                        "pitch": 0.6065207719802856,
                        "yaw": 89.73204040527344
                    }
                },
                "velocity": {
                    "x": -0.002610305557027459,
                    "y": 2.130052328109741,
                    "z": 0.021194610744714737
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.886173725128174,
                "transform": {
                    "location": {
                        "x": 2154.408447265625,
                        "y": 2527.3583984375,
                        "z": 364.74029541015625
                    },
                    "rotation": {
                        "roll": 0.0016045118682086468,
                        "pitch": -0.08401132375001907,
                        "yaw": -0.0752563327550888
                    }
                },
                "velocity": {
                    "x": 6.886165142059326,
                    "y": -0.00969426054507494,
                    "z": -0.005007619969546795
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.840232849121094,
                "transform": {
                    "location": {
                        "x": 2219.718505859375,
                        "y": 2524.27490234375,
                        "z": 366.0386962890625
                    },
                    "rotation": {
                        "roll": -0.0007934568566270173,
                        "pitch": -1.6217942237854004,
                        "yaw": 179.90078735351562
                    }
                },
                "velocity": {
                    "x": -5.837813377380371,
                    "y": 0.00705726956948638,
                    "z": -0.16793429851531982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.0059285163879395,
                "transform": {
                    "location": {
                        "x": 2187.80908203125,
                        "y": 2566.986083984375,
                        "z": 365.1075744628906
                    },
                    "rotation": {
                        "roll": -0.002929690293967724,
                        "pitch": 0.32230979204177856,
                        "yaw": -89.41970825195312
                    }
                },
                "velocity": {
                    "x": 0.0678253024816513,
                    "y": -5.005422115325928,
                    "z": 0.02163148857653141
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.10983063280582428,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7611999511719
                    },
                    "rotation": {
                        "roll": 0.0016343211755156517,
                        "pitch": -0.219030499458313,
                        "yaw": -0.12591552734375
                    }
                },
                "velocity": {
                    "x": 0.00040837351116351783,
                    "y": 0.000321769155561924,
                    "z": 0.10982940346002579
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00026469051954336464,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.9773095118580386e-05,
                    "y": -6.113496965554077e-06,
                    "z": -0.0002638801233842969
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006001248839311302,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": -3.253035174566321e-06,
                    "y": -2.200878589064814e-05,
                    "z": 0.0005997123662382364
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.73577356338501,
                "transform": {
                    "location": {
                        "x": 2188.0166015625,
                        "y": 2442.297607421875,
                        "z": 364.60791015625
                    },
                    "rotation": {
                        "roll": -0.0004883166402578354,
                        "pitch": -0.7168829441070557,
                        "yaw": -89.92013549804688
                    }
                },
                "velocity": {
                    "x": 0.009265590459108353,
                    "y": -6.7353034019470215,
                    "z": -0.0790354311466217
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1633052825927734,
                "transform": {
                    "location": {
                        "x": 2185.02392578125,
                        "y": 2471.397705078125,
                        "z": 364.881591796875
                    },
                    "rotation": {
                        "roll": -0.00027465546736493707,
                        "pitch": 0.413629412651062,
                        "yaw": 89.68541717529297
                    }
                },
                "velocity": {
                    "x": -0.0005305540398694575,
                    "y": 2.163236141204834,
                    "z": 0.01728523150086403
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0108540058135986,
                "transform": {
                    "location": {
                        "x": 2185.030029296875,
                        "y": 2483.4658203125,
                        "z": 364.9768371582031
                    },
                    "rotation": {
                        "roll": 0.0001691167854005471,
                        "pitch": 0.3356354832649231,
                        "yaw": 90.09202575683594
                    }
                },
                "velocity": {
                    "x": -0.006003329996019602,
                    "y": 3.0107710361480713,
                    "z": 0.021534718573093414
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.4564283490180969,
                "transform": {
                    "location": {
                        "x": 2236.93896484375,
                        "y": 2524.330322265625,
                        "z": 366.5142517089844
                    },
                    "rotation": {
                        "roll": 0.0007218989194370806,
                        "pitch": -1.7565332651138306,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0137883136048913,
                    "y": -0.0001462506625102833,
                    "z": -0.45622000098228455
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19091796875,
                        "z": 364.7787780761719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6687096357345581,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -1.3063428810911049e-11,
                    "y": 1.2394126613912704e-08,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.020882438868284225,
        "expert_target_speed": 5.2670463828001095,
        "target_point": [
            12.951914111483868,
            0.08459486053978922
        ],
        "target_point_next": [
            21.803187073707356,
            9.087418124724136
        ]
    },
    "215": {
        "acceleration": [
            0.06329156458377838,
            1.9585514068603516,
            0.021706782281398773
        ],
        "angular_velocity": [
            -0.046735458076000214,
            -0.01831725612282753,
            -0.46758779883384705
        ],
        "forward_vector": [
            0.011043868027627468,
            0.9998950958251953,
            0.009371500462293625
        ],
        "right_vector": [
            -0.9999390244483948,
            0.0110457269474864,
            -0.00014663254842162132
        ],
        "location": [
            2185.072021484375,
            2503.71142578125,
            365.0895690917969
        ],
        "rotation": [
            0.008401795290410519,
            0.5369552969932556,
            89.36719512939453
        ],
        "velocity": [
            0.06422466784715652,
            4.767175197601318,
            0.024615373462438583
        ],
        "speed": 4.767607803981495,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.4138298034668,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2156.078369140625,
                2527.35546875,
                364.7400207519531
            ],
            "velocity": [
                6.485995292663574,
                -0.011229920201003551,
                0.010801343247294426
            ],
            "speed_kmh": 23.349650430078118,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.1561760902404785,
                "transform": {
                    "location": {
                        "x": 2187.892333984375,
                        "y": 2549.788330078125,
                        "z": 365.1530456542969
                    },
                    "rotation": {
                        "roll": 0.005871216766536236,
                        "pitch": 0.32729580998420715,
                        "yaw": -89.82754516601562
                    }
                },
                "velocity": {
                    "x": 0.016689496114850044,
                    "y": -6.156145095825195,
                    "z": 0.010112142190337181
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.40393248200416565,
                "transform": {
                    "location": {
                        "x": 2185.054931640625,
                        "y": 2458.98779296875,
                        "z": 364.7532043457031
                    },
                    "rotation": {
                        "roll": -0.004547154996544123,
                        "pitch": 0.5331577062606812,
                        "yaw": 89.5240249633789
                    }
                },
                "velocity": {
                    "x": -0.0005903109558857977,
                    "y": 0.4039168357849121,
                    "z": 0.0035051917657256126
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.486013889312744,
                "transform": {
                    "location": {
                        "x": 2156.078369140625,
                        "y": 2527.35546875,
                        "z": 364.7400207519531
                    },
                    "rotation": {
                        "roll": 0.00045281596248969436,
                        "pitch": -0.056000716984272,
                        "yaw": -0.0923767015337944
                    }
                },
                "velocity": {
                    "x": 6.485995292663574,
                    "y": -0.011229920201003551,
                    "z": 0.010801343247294426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.54034423828125,
                "transform": {
                    "location": {
                        "x": 2218.1708984375,
                        "y": 2524.27734375,
                        "z": 365.99407958984375
                    },
                    "rotation": {
                        "roll": -0.002197265625,
                        "pitch": -1.6727815866470337,
                        "yaw": 179.94447326660156
                    }
                },
                "velocity": {
                    "x": -6.537582874298096,
                    "y": 0.009043142199516296,
                    "z": -0.18982131779193878
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.723804235458374,
                "transform": {
                    "location": {
                        "x": 2187.8232421875,
                        "y": 2565.925048828125,
                        "z": 365.1139831542969
                    },
                    "rotation": {
                        "roll": 0.0034475806169211864,
                        "pitch": 0.02326362393796444,
                        "yaw": -89.31884765625
                    }
                },
                "velocity": {
                    "x": 0.05250002443790436,
                    "y": -3.7234084606170654,
                    "z": 0.013845243491232395
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7924736738204956,
                "transform": {
                    "location": {
                        "x": 2136.01171875,
                        "y": 2527.302734375,
                        "z": 364.7927551269531
                    },
                    "rotation": {
                        "roll": -0.0034484860952943563,
                        "pitch": -0.12817531824111938,
                        "yaw": -0.08563232421875
                    }
                },
                "velocity": {
                    "x": 0.7890207767486572,
                    "y": 0.007971116341650486,
                    "z": 0.07346614450216293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3758087991154753e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 5.304924798110733e-06,
                    "y": -2.2781294319429435e-05,
                    "z": 4.16139118897263e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011187204654561356,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.2686997251876164e-05,
                    "y": 2.2255349904298782e-05,
                    "z": -0.00010889946861425415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.312326431274414,
                "transform": {
                    "location": {
                        "x": 2188.018310546875,
                        "y": 2440.669921875,
                        "z": 364.588623046875
                    },
                    "rotation": {
                        "roll": 0.0007606933359056711,
                        "pitch": -0.7261037230491638,
                        "yaw": -89.92068481445312
                    }
                },
                "velocity": {
                    "x": 0.008853260427713394,
                    "y": -6.311867713928223,
                    "z": -0.07556623965501785
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6954624652862549,
                "transform": {
                    "location": {
                        "x": 2185.0244140625,
                        "y": 2471.8671875,
                        "z": 364.88482666015625
                    },
                    "rotation": {
                        "roll": -0.0014648401411250234,
                        "pitch": 0.5105839371681213,
                        "yaw": 89.74825286865234
                    }
                },
                "velocity": {
                    "x": 0.00031806129845790565,
                    "y": 1.6954070329666138,
                    "z": 0.013708238489925861
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.137151002883911,
                "transform": {
                    "location": {
                        "x": 2185.028076171875,
                        "y": 2484.220947265625,
                        "z": 364.9819030761719
                    },
                    "rotation": {
                        "roll": 0.0003950126119889319,
                        "pitch": 0.3848128318786621,
                        "yaw": 90.09220886230469
                    }
                },
                "velocity": {
                    "x": -0.0050741820596158504,
                    "y": 3.1370699405670166,
                    "z": 0.021991882473230362
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.13411639630794525,
                "transform": {
                    "location": {
                        "x": 2236.93798828125,
                        "y": 2524.330322265625,
                        "z": 366.5299072265625
                    },
                    "rotation": {
                        "roll": -0.00024414071231149137,
                        "pitch": -1.7592790126800537,
                        "yaw": 179.873779296875
                    }
                },
                "velocity": {
                    "x": -0.004158115480095148,
                    "y": 9.808942559175193e-05,
                    "z": 0.13405188918113708
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13275107741355896,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.192626953125,
                        "z": 364.5244445800781
                    },
                    "rotation": {
                        "roll": 2.409408989478834e-05,
                        "pitch": 0.6737844347953796,
                        "yaw": 90.06037139892578
                    }
                },
                "velocity": {
                    "x": -2.6013543902081437e-05,
                    "y": -0.0016034756554290652,
                    "z": 0.13274139165878296
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0023491578176617622,
        "expert_target_speed": 5.683883784697137,
        "target_point": [
            11.819558524317042,
            0.11142237298307058
        ],
        "target_point_next": [
            20.653153555663195,
            9.131591916849969
        ]
    },
    "220": {
        "acceleration": [
            0.018047690391540527,
            -1.7376232147216797,
            -0.021782293915748596
        ],
        "angular_velocity": [
            -0.9508466124534607,
            0.07772062718868256,
            2.820585012435913
        ],
        "forward_vector": [
            0.012967292219400406,
            0.9998786449432373,
            0.00862957164645195
        ],
        "right_vector": [
            -0.9999158978462219,
            0.012969530187547207,
            -0.00020338314061518759
        ],
        "location": [
            2185.08984375,
            2504.959716796875,
            365.0963439941406
        ],
        "rotation": [
            0.011653429828584194,
            0.49444419145584106,
            89.2569808959961
        ],
        "velocity": [
            0.0785520002245903,
            5.0570855140686035,
            0.027720974758267403
        ],
        "speed": 5.0576955536431605,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.40644073486328,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2157.666259765625,
                2527.3525390625,
                364.74346923828125
            ],
            "velocity": [
                6.234834671020508,
                -0.010737283155322075,
                0.012505616992712021
            ],
            "speed_kmh": 22.445483249608653,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.9332408905029297,
                "transform": {
                    "location": {
                        "x": 2187.898193359375,
                        "y": 2548.4921875,
                        "z": 365.157958984375
                    },
                    "rotation": {
                        "roll": -0.005340547300875187,
                        "pitch": -0.5506839752197266,
                        "yaw": -90.10748291015625
                    }
                },
                "velocity": {
                    "x": 0.02354867197573185,
                    "y": -2.9331459999084473,
                    "z": 0.0014033602783456445
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.1899901628494263,
                "transform": {
                    "location": {
                        "x": 2185.05615234375,
                        "y": 2459.20068359375,
                        "z": 364.7549133300781
                    },
                    "rotation": {
                        "roll": -0.005187987349927425,
                        "pitch": 0.5871435403823853,
                        "yaw": 89.6475601196289
                    }
                },
                "velocity": {
                    "x": -0.0014888960868120193,
                    "y": 1.1899352073669434,
                    "z": 0.011335010640323162
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.234856605529785,
                "transform": {
                    "location": {
                        "x": 2157.666259765625,
                        "y": 2527.3525390625,
                        "z": 364.74346923828125
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": 0.15991520881652832,
                        "yaw": -0.0991821363568306
                    }
                },
                "velocity": {
                    "x": 6.234834671020508,
                    "y": -0.010737283155322075,
                    "z": 0.012505616992712021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.565539836883545,
                "transform": {
                    "location": {
                        "x": 2216.398193359375,
                        "y": 2524.27978515625,
                        "z": 365.9439392089844
                    },
                    "rotation": {
                        "roll": -0.002655029296875,
                        "pitch": -1.742606520652771,
                        "yaw": 179.9380645751953
                    }
                },
                "velocity": {
                    "x": -7.562435150146484,
                    "y": 0.010437811724841595,
                    "z": -0.21646690368652344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.95987606048584,
                "transform": {
                    "location": {
                        "x": 2187.8330078125,
                        "y": 2564.87255859375,
                        "z": 365.11578369140625
                    },
                    "rotation": {
                        "roll": 0.017739174887537956,
                        "pitch": 0.3584551513195038,
                        "yaw": -89.40029907226562
                    }
                },
                "velocity": {
                    "x": 0.03984186425805092,
                    "y": -4.959664821624756,
                    "z": 0.02253982424736023
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.013702630996704,
                "transform": {
                    "location": {
                        "x": 2136.385009765625,
                        "y": 2527.306396484375,
                        "z": 364.8006286621094
                    },
                    "rotation": {
                        "roll": -0.008209228515625,
                        "pitch": -0.040250301361083984,
                        "yaw": 0.17858180403709412
                    }
                },
                "velocity": {
                    "x": 2.0135982036590576,
                    "y": 0.01947963610291481,
                    "z": 0.006406182888895273
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7237503925571218e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 6.366297384374775e-06,
                    "y": -2.677778184079216e-06,
                    "z": 1.5793393686180934e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 6.113036632537842,
                "transform": {
                    "location": {
                        "x": 2188.020263671875,
                        "y": 2439.120361328125,
                        "z": 364.5699462890625
                    },
                    "rotation": {
                        "roll": 0.00024382481933571398,
                        "pitch": -0.7169785499572754,
                        "yaw": -89.92172241210938
                    }
                },
                "velocity": {
                    "x": 0.006997894030064344,
                    "y": -6.1125946044921875,
                    "z": -0.07317299395799637
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.148136854171753,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2472.35595703125,
                        "z": 364.8893737792969
                    },
                    "rotation": {
                        "roll": -0.0013122649397701025,
                        "pitch": 0.45566239953041077,
                        "yaw": 89.79730987548828
                    }
                },
                "velocity": {
                    "x": 0.00020670451340265572,
                    "y": 2.1480658054351807,
                    "z": 0.017448939383029938
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.758936643600464,
                "transform": {
                    "location": {
                        "x": 2185.026123046875,
                        "y": 2485.09033203125,
                        "z": 364.9881896972656
                    },
                    "rotation": {
                        "roll": -0.0003967452794313431,
                        "pitch": 0.3485923409461975,
                        "yaw": 90.09214782714844
                    }
                },
                "velocity": {
                    "x": -0.006013944745063782,
                    "y": 3.7588469982147217,
                    "z": 0.02525593712925911
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4051759243011475,
                "transform": {
                    "location": {
                        "x": 2236.714111328125,
                        "y": 2524.328125,
                        "z": 366.54119873046875
                    },
                    "rotation": {
                        "roll": -0.006439208053052425,
                        "pitch": -1.6907927989959717,
                        "yaw": -179.99586486816406
                    }
                },
                "velocity": {
                    "x": -1.4049173593521118,
                    "y": -0.022898443043231964,
                    "z": -0.014228972606360912
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.13149693608283997,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19189453125,
                        "z": 364.57562255859375
                    },
                    "rotation": {
                        "roll": -3.0497840270982124e-05,
                        "pitch": 0.6746792197227478,
                        "yaw": 90.06037902832031
                    }
                },
                "velocity": {
                    "x": -5.50295299035497e-05,
                    "y": -0.00157439848408103,
                    "z": 0.13148750364780426
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.021508432924747467,
        "expert_target_speed": 5.868973687979093,
        "target_point": [
            10.570904687443743,
            0.1358373473012602
        ],
        "target_point_next": [
            19.387100220338155,
            9.17301368195912
        ]
    },
    "225": {
        "acceleration": [
            0.018406063318252563,
            -1.6723155975341797,
            0.03654424101114273
        ],
        "angular_velocity": [
            -0.9444032907485962,
            0.04490743577480316,
            -0.48615890741348267
        ],
        "forward_vector": [
            0.015298241749405861,
            0.9998699426651001,
            0.005109406542032957
        ],
        "right_vector": [
            -0.9998829960823059,
            0.015299382619559765,
            -0.00018421396089252084
        ],
        "location": [
            2185.1103515625,
            2506.213134765625,
            365.1022644042969
        ],
        "rotation": [
            0.01055482029914856,
            0.29274871945381165,
            89.12342834472656
        ],
        "velocity": [
            0.08655035495758057,
            4.904849529266357,
            0.01797228865325451
        ],
        "speed": 4.905613098144583,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.448753356933594,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2159.1884765625,
                2527.349609375,
                364.7486267089844
            ],
            "velocity": [
                5.932495594024658,
                -0.010335484519600868,
                0.03327125310897827
            ],
            "speed_kmh": 21.35735241832489,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.355602502822876,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2547.767333984375,
                        "z": 365.1580505371094
                    },
                    "rotation": {
                        "roll": 0.010582015849649906,
                        "pitch": -0.3515293300151825,
                        "yaw": -90.07274627685547
                    }
                },
                "velocity": {
                    "x": 0.004943540785461664,
                    "y": -3.355595588684082,
                    "z": 0.0046495054848492146
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6101293563842773,
                "transform": {
                    "location": {
                        "x": 2185.05712890625,
                        "y": 2459.55224609375,
                        "z": 364.7584228515625
                    },
                    "rotation": {
                        "roll": -0.0029297214932739735,
                        "pitch": 0.5941034555435181,
                        "yaw": 89.75785064697266
                    }
                },
                "velocity": {
                    "x": -0.0022172045428305864,
                    "y": 1.610056757926941,
                    "z": 0.01512141153216362
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.932597637176514,
                "transform": {
                    "location": {
                        "x": 2159.1884765625,
                        "y": 2527.349609375,
                        "z": 364.7486267089844
                    },
                    "rotation": {
                        "roll": 5.901136319153011e-05,
                        "pitch": 0.26208117604255676,
                        "yaw": -0.1003723070025444
                    }
                },
                "velocity": {
                    "x": 5.932495594024658,
                    "y": -0.010335484519600868,
                    "z": 0.03327125310897827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.842507839202881,
                "transform": {
                    "location": {
                        "x": 2214.585693359375,
                        "y": 2524.282470703125,
                        "z": 365.89093017578125
                    },
                    "rotation": {
                        "roll": -0.0014038087101653218,
                        "pitch": -1.5886541604995728,
                        "yaw": 179.9098663330078
                    }
                },
                "velocity": {
                    "x": -6.839693069458008,
                    "y": 0.012617298401892185,
                    "z": -0.1958288550376892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.725008964538574,
                "transform": {
                    "location": {
                        "x": 2187.84423828125,
                        "y": 2563.532958984375,
                        "z": 365.1208190917969
                    },
                    "rotation": {
                        "roll": 0.003996694926172495,
                        "pitch": 0.5026677250862122,
                        "yaw": -89.46707916259766
                    }
                },
                "velocity": {
                    "x": 0.04818541556596756,
                    "y": -5.724751949310303,
                    "z": 0.024864044040441513
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.4041590690612793,
                "transform": {
                    "location": {
                        "x": 2137.06005859375,
                        "y": 2527.31396484375,
                        "z": 364.7994689941406
                    },
                    "rotation": {
                        "roll": -0.007263183128088713,
                        "pitch": -0.010620943270623684,
                        "yaw": 0.39559751749038696
                    }
                },
                "velocity": {
                    "x": 3.4039454460144043,
                    "y": 0.036529991775751114,
                    "z": -0.01102178543806076
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.57648532371968e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.3147518075129483e-05,
                    "y": 1.620662078494206e-05,
                    "z": -2.9045015253359452e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011949331383220851,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.1915378308913205e-05,
                    "y": 1.9517252439982258e-05,
                    "z": 0.00011728492245310917
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.797849655151367,
                "transform": {
                    "location": {
                        "x": 2188.0224609375,
                        "y": 2437.630859375,
                        "z": 364.5517883300781
                    },
                    "rotation": {
                        "roll": -0.0011901517864316702,
                        "pitch": -0.7352971434593201,
                        "yaw": -89.92648315429688
                    }
                },
                "velocity": {
                    "x": 0.007118548732250929,
                    "y": -5.797407150268555,
                    "z": -0.07130912691354752
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6824278831481934,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2472.821533203125,
                        "z": 364.89288330078125
                    },
                    "rotation": {
                        "roll": -0.00173950067255646,
                        "pitch": 0.5155494809150696,
                        "yaw": 89.8375473022461
                    }
                },
                "velocity": {
                    "x": 0.0004074053722433746,
                    "y": 1.6823630332946777,
                    "z": 0.014762010425329208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6683731079101562,
                "transform": {
                    "location": {
                        "x": 2185.0244140625,
                        "y": 2486.026611328125,
                        "z": 364.9940490722656
                    },
                    "rotation": {
                        "roll": 0.0017932328628376126,
                        "pitch": 0.38956665992736816,
                        "yaw": 90.09224700927734
                    }
                },
                "velocity": {
                    "x": -0.005940028466284275,
                    "y": 3.6682839393615723,
                    "z": 0.02487083338201046
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0822606086730957,
                "transform": {
                    "location": {
                        "x": 2236.287353515625,
                        "y": 2524.32568359375,
                        "z": 366.53118896484375
                    },
                    "rotation": {
                        "roll": -0.007873532362282276,
                        "pitch": -1.7013795375823975,
                        "yaw": -179.8954315185547
                    }
                },
                "velocity": {
                    "x": -2.0813770294189453,
                    "y": -0.014542079530656338,
                    "z": -0.058890923857688904
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.796578049659729,
                "transform": {
                    "location": {
                        "x": 2185.165771484375,
                        "y": 2443.31982421875,
                        "z": 364.5910339355469
                    },
                    "rotation": {
                        "roll": 0.00594622315838933,
                        "pitch": 0.5257469415664673,
                        "yaw": 90.09390258789062
                    }
                },
                "velocity": {
                    "x": -0.02590392529964447,
                    "y": 1.7961698770523071,
                    "z": 0.028205441311001778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.05043601244688034,
        "expert_target_speed": 5.628105684025553,
        "target_point": [
            9.316973424512534,
            0.16186303211547745
        ],
        "target_point_next": [
            18.11202953049815,
            9.21961373913389
        ]
    },
    "230": {
        "acceleration": [
            -0.04143446683883667,
            -3.7496376037597656,
            -0.011467337608337402
        ],
        "angular_velocity": [
            -1.0290640592575073,
            0.02135724574327469,
            -0.37508833408355713
        ],
        "forward_vector": [
            0.017091114073991776,
            0.9998539090156555,
            -0.0001326799247181043
        ],
        "right_vector": [
            -0.9998539090156555,
            0.017091095447540283,
            -0.00014651902893092483
        ],
        "location": [
            2185.130615234375,
            2507.3271484375,
            365.1076354980469
        ],
        "rotation": [
            0.008394922129809856,
            -0.007602000143378973,
            89.02070617675781
        ],
        "velocity": [
            0.0780337005853653,
            4.023603916168213,
            0.016427507624030113
        ],
        "speed": 4.0243605371078806,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.63649559020996,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2160.636474609375,
                2527.3466796875,
                364.7565002441406
            ],
            "velocity": [
                5.6695556640625,
                -0.01043445710092783,
                0.03170674294233322
            ],
            "speed_kmh": 20.410754128119972,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.6873979568481445,
                "transform": {
                    "location": {
                        "x": 2187.902099609375,
                        "y": 2546.746826171875,
                        "z": 365.1567077636719
                    },
                    "rotation": {
                        "roll": 0.0009328139130957425,
                        "pitch": 0.30177822709083557,
                        "yaw": -89.99107360839844
                    }
                },
                "velocity": {
                    "x": 0.007716051302850246,
                    "y": -4.6873884201049805,
                    "z": 0.005357837770134211
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.1202189922332764,
                "transform": {
                    "location": {
                        "x": 2185.057861328125,
                        "y": 2460.02490234375,
                        "z": 364.76318359375
                    },
                    "rotation": {
                        "roll": -0.002044655615463853,
                        "pitch": 0.5889330506324768,
                        "yaw": 89.83824157714844
                    }
                },
                "velocity": {
                    "x": -0.004059536848217249,
                    "y": 2.1201021671295166,
                    "z": 0.021881770342588425
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.66965389251709,
                "transform": {
                    "location": {
                        "x": 2160.636474609375,
                        "y": 2527.3466796875,
                        "z": 364.7565002441406
                    },
                    "rotation": {
                        "roll": 8.547849574824795e-05,
                        "pitch": 0.25195884704589844,
                        "yaw": -0.1046447604894638
                    }
                },
                "velocity": {
                    "x": 5.6695556640625,
                    "y": -0.01043445710092783,
                    "z": 0.03170674294233322
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.942544460296631,
                "transform": {
                    "location": {
                        "x": 2213.015380859375,
                        "y": 2524.285400390625,
                        "z": 365.8459777832031
                    },
                    "rotation": {
                        "roll": -0.0014953609788790345,
                        "pitch": -1.5395177602767944,
                        "yaw": 179.90443420410156
                    }
                },
                "velocity": {
                    "x": -5.9402899742126465,
                    "y": 0.010090909898281097,
                    "z": -0.1633608341217041
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.611598968505859,
                "transform": {
                    "location": {
                        "x": 2187.858154296875,
                        "y": 2561.815673828125,
                        "z": 365.12628173828125
                    },
                    "rotation": {
                        "roll": 0.003996192943304777,
                        "pitch": 0.660615861415863,
                        "yaw": -89.56126403808594
                    }
                },
                "velocity": {
                    "x": 0.056580837815999985,
                    "y": -7.6113409996032715,
                    "z": 0.027021197602152824
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.878572940826416,
                "transform": {
                    "location": {
                        "x": 2138.108642578125,
                        "y": 2527.3251953125,
                        "z": 364.7957458496094
                    },
                    "rotation": {
                        "roll": 0.0018387282034382224,
                        "pitch": 0.010812188498675823,
                        "yaw": 0.5137356519699097
                    }
                },
                "velocity": {
                    "x": 4.878424644470215,
                    "y": 0.033488236367702484,
                    "z": -0.018041376024484634
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.819291542749852e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.79515773197636e-05,
                    "y": 1.3888776265957858e-05,
                    "z": 8.522225107299164e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.993315870815422e-06,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 4.6508012019330636e-06,
                    "y": 8.205458470911253e-06,
                    "z": -3.3025523862306727e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9267578125,
                        "y": 2436.20556640625,
                        "z": 364.50103759765625
                    },
                    "rotation": {
                        "roll": 2.668248022530406e-08,
                        "pitch": -0.7111182808876038,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3580257892608643,
                "transform": {
                    "location": {
                        "x": 2185.025634765625,
                        "y": 2473.31494140625,
                        "z": 364.8976745605469
                    },
                    "rotation": {
                        "roll": -0.001037632580846548,
                        "pitch": 0.441599041223526,
                        "yaw": 89.86894226074219
                    }
                },
                "velocity": {
                    "x": 0.0003365361480973661,
                    "y": 2.3579459190368652,
                    "z": 0.019422883167862892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.003016948699951,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2486.98779296875,
                        "z": 365.0008544921875
                    },
                    "rotation": {
                        "roll": -0.00012206521205371246,
                        "pitch": 0.3489406704902649,
                        "yaw": 90.08802795410156
                    }
                },
                "velocity": {
                    "x": -0.004673907998949289,
                    "y": 4.00293493270874,
                    "z": 0.025205573067069054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6046180725097656,
                "transform": {
                    "location": {
                        "x": 2235.567626953125,
                        "y": 2524.32080078125,
                        "z": 366.5093994140625
                    },
                    "rotation": {
                        "roll": -0.01245117001235485,
                        "pitch": -1.6708896160125732,
                        "yaw": -179.7827606201172
                    }
                },
                "velocity": {
                    "x": -3.602857828140259,
                    "y": -0.026689661666750908,
                    "z": -0.10942738503217697
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0991594791412354,
                "transform": {
                    "location": {
                        "x": 2185.15869140625,
                        "y": 2443.95849609375,
                        "z": 364.5982360839844
                    },
                    "rotation": {
                        "roll": 0.00662226602435112,
                        "pitch": 0.512216329574585,
                        "yaw": 90.28764343261719
                    }
                },
                "velocity": {
                    "x": -0.04317324981093407,
                    "y": 3.098682165145874,
                    "z": 0.033070534467697144
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.07210169732570648,
        "expert_target_speed": 4.7321972112392885,
        "target_point": [
            8.20247108655998,
            0.17977973976700248
        ],
        "target_point_next": [
            16.98127984406887,
            9.253278325043393
        ]
    },
    "235": {
        "acceleration": [
            -0.03867939114570618,
            -2.792501449584961,
            -0.03258591517806053
        ],
        "angular_velocity": [
            -0.07763069868087769,
            0.03460969403386116,
            0.34796321392059326
        ],
        "forward_vector": [
            0.018462102860212326,
            0.9998264312744141,
            -0.0024868224281817675
        ],
        "right_vector": [
            -0.9998295307159424,
            0.018461957573890686,
            -8.137791155604646e-05
        ],
        "location": [
            2185.1484375,
            2508.22119140625,
            365.11163330078125
        ],
        "rotation": [
            0.00466262549161911,
            -0.14248457551002502,
            88.942138671875
        ],
        "velocity": [
            0.06723606586456299,
            3.211263418197632,
            0.010428170673549175
        ],
        "speed": 3.2119672211290204,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.012657165527344,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2162.01904296875,
                2527.34375,
                364.767333984375
            ],
            "velocity": [
                5.394432067871094,
                -0.010826329700648785,
                0.043653666973114014
            ],
            "speed_kmh": 19.420630412595408,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.3340148925781
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.522325038909912,
                "transform": {
                    "location": {
                        "x": 2187.90380859375,
                        "y": 2545.541015625,
                        "z": 365.15826416015625
                    },
                    "rotation": {
                        "roll": 0.000899988051969558,
                        "pitch": 0.16990093886852264,
                        "yaw": -89.94249725341797
                    }
                },
                "velocity": {
                    "x": 0.007064212579280138,
                    "y": -4.5223164558410645,
                    "z": 0.005309848580509424
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.35017260909080505,
                "transform": {
                    "location": {
                        "x": 2185.05810546875,
                        "y": 2460.31591796875,
                        "z": 364.7669372558594
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.5127559304237366,
                        "yaw": 89.90559387207031
                    }
                },
                "velocity": {
                    "x": -0.001065071439370513,
                    "y": 0.3501605987548828,
                    "z": 0.002697534393519163
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.394619464874268,
                "transform": {
                    "location": {
                        "x": 2162.01904296875,
                        "y": 2527.34375,
                        "z": 364.767333984375
                    },
                    "rotation": {
                        "roll": 0.00042784379911608994,
                        "pitch": 0.4213748276233673,
                        "yaw": -0.1080322340130806
                    }
                },
                "velocity": {
                    "x": 5.394432067871094,
                    "y": -0.010826329700648785,
                    "z": 0.043653666973114014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.304276943206787,
                "transform": {
                    "location": {
                        "x": 2211.7529296875,
                        "y": 2524.287841796875,
                        "z": 365.81060791015625
                    },
                    "rotation": {
                        "roll": -9.155271254712716e-05,
                        "pitch": -1.417475938796997,
                        "yaw": 179.8987274169922
                    }
                },
                "velocity": {
                    "x": -4.302690505981445,
                    "y": 0.009055116213858128,
                    "z": -0.11649976670742035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.6144561767578125,
                "transform": {
                    "location": {
                        "x": 2187.87255859375,
                        "y": 2560.426513671875,
                        "z": 365.1407470703125
                    },
                    "rotation": {
                        "roll": 0.011429998092353344,
                        "pitch": -0.5659221410751343,
                        "yaw": -89.94929504394531
                    }
                },
                "velocity": {
                    "x": 0.0283283069729805,
                    "y": -2.6142938137054443,
                    "z": 0.006851262878626585
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.461371898651123,
                "transform": {
                    "location": {
                        "x": 2139.437744140625,
                        "y": 2527.333740234375,
                        "z": 364.7908935546875
                    },
                    "rotation": {
                        "roll": 0.002332327188923955,
                        "pitch": -0.09911970049142838,
                        "yaw": 0.4012461006641388
                    }
                },
                "velocity": {
                    "x": 5.461228370666504,
                    "y": 0.03338267654180527,
                    "z": -0.021322470158338547
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.1492967031663284e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 6.1205773818073794e-06,
                    "y": -4.6563536670873873e-07,
                    "z": 5.1125800382578745e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021797213412355632,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.2582597011933103e-05,
                    "y": 1.7674667105893604e-05,
                    "z": 0.0002160775038646534
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.927978515625,
                        "y": 2434.8115234375,
                        "z": 364.4832458496094
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.24826979637146,
                "transform": {
                    "location": {
                        "x": 2185.025634765625,
                        "y": 2474.014892578125,
                        "z": 364.9040222167969
                    },
                    "rotation": {
                        "roll": -0.000305178138660267,
                        "pitch": 0.3995933532714844,
                        "yaw": 89.90559387207031
                    }
                },
                "velocity": {
                    "x": 0.0009319918463006616,
                    "y": 3.248161554336548,
                    "z": 0.02651042863726616
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.4817299842834473,
                "transform": {
                    "location": {
                        "x": 2185.0205078125,
                        "y": 2487.915283203125,
                        "z": 365.0065002441406
                    },
                    "rotation": {
                        "roll": -6.103294435888529e-05,
                        "pitch": 0.3981863558292389,
                        "yaw": 90.08777618408203
                    }
                },
                "velocity": {
                    "x": -0.005347729194909334,
                    "y": 3.4816479682922363,
                    "z": 0.02330019883811474
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.910233974456787,
                "transform": {
                    "location": {
                        "x": 2234.4931640625,
                        "y": 2524.313720703125,
                        "z": 366.47650146484375
                    },
                    "rotation": {
                        "roll": -0.01519775204360485,
                        "pitch": -1.656553030014038,
                        "yaw": -179.6693115234375
                    }
                },
                "velocity": {
                    "x": -4.907805442810059,
                    "y": -0.03768785297870636,
                    "z": -0.14973945915699005
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.224908351898193,
                "transform": {
                    "location": {
                        "x": 2185.147216796875,
                        "y": 2444.87939453125,
                        "z": 364.6084289550781
                    },
                    "rotation": {
                        "roll": 0.007030825596302748,
                        "pitch": 0.5468932390213013,
                        "yaw": 90.4748764038086
                    }
                },
                "velocity": {
                    "x": -0.05939541757106781,
                    "y": 4.224201679229736,
                    "z": 0.04943133145570755
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.09425441175699234,
        "expert_target_speed": 3.8670757539389924,
        "target_point": [
            16.07438542544168,
            9.277815514880936
        ],
        "target_point_next": [
            15.619002470955916,
            37.274179769871715
        ]
    },
    "240": {
        "acceleration": [
            0.012124627828598022,
            -0.14680862426757812,
            0.01775607466697693
        ],
        "angular_velocity": [
            0.7197938561439514,
            0.0004292726225685328,
            -1.0056205987930298
        ],
        "forward_vector": [
            0.01980075240135193,
            0.9998037815093994,
            -0.0005977153195999563
        ],
        "right_vector": [
            -0.9998039603233337,
            0.019800731912255287,
            -4.0473092667525634e-05
        ],
        "location": [
            2185.163818359375,
            2508.977783203125,
            365.1135559082031
        ],
        "rotation": [
            0.002318937797099352,
            -0.03424656763672829,
            88.86542510986328
        ],
        "velocity": [
            0.06536947190761566,
            2.9484996795654297,
            0.009990901686251163
        ],
        "speed": 2.9492242248182694,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.523296356201172,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2163.34033203125,
                2527.3408203125,
                364.77783203125
            ],
            "velocity": [
                5.173652648925781,
                -0.009999973699450493,
                0.04040730372071266
            ],
            "speed_kmh": 18.625752378870637,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04005959630012512,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30078125,
                        "z": 365.00421142578125
                    },
                    "rotation": {
                        "roll": 0.0007437443127855659,
                        "pitch": 0.3526836335659027,
                        "yaw": -89.93975830078125
                    }
                },
                "velocity": {
                    "x": -2.7620972105069086e-06,
                    "y": -0.00019190080638509244,
                    "z": -0.04005913808941841
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.390268802642822,
                "transform": {
                    "location": {
                        "x": 2187.905517578125,
                        "y": 2544.4619140625,
                        "z": 365.159912109375
                    },
                    "rotation": {
                        "roll": 0.001171779353171587,
                        "pitch": -0.014377547428011894,
                        "yaw": -89.93144989013672
                    }
                },
                "velocity": {
                    "x": 0.0062973955646157265,
                    "y": -4.390263080596924,
                    "z": 0.0033409977331757545
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.971225380897522,
                "transform": {
                    "location": {
                        "x": 2185.05810546875,
                        "y": 2460.497802734375,
                        "z": 364.76812744140625
                    },
                    "rotation": {
                        "roll": -0.0016173948533833027,
                        "pitch": 0.5729777216911316,
                        "yaw": 89.91211700439453
                    }
                },
                "velocity": {
                    "x": -0.0023277178406715393,
                    "y": 0.9711742401123047,
                    "z": 0.009688415564596653
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.1738200187683105,
                "transform": {
                    "location": {
                        "x": 2163.34033203125,
                        "y": 2527.3408203125,
                        "z": 364.77783203125
                    },
                    "rotation": {
                        "roll": -0.000946044921875,
                        "pitch": 0.586897611618042,
                        "yaw": -0.1100158616900444
                    }
                },
                "velocity": {
                    "x": 5.173652648925781,
                    "y": -0.009999973699450493,
                    "z": 0.04040730372071266
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.048276424407959,
                "transform": {
                    "location": {
                        "x": 2210.6025390625,
                        "y": 2524.2900390625,
                        "z": 365.78057861328125
                    },
                    "rotation": {
                        "roll": -0.00039672842831350863,
                        "pitch": -1.5494693517684937,
                        "yaw": 179.8958282470703
                    }
                },
                "velocity": {
                    "x": -5.04655122756958,
                    "y": 0.009084378369152546,
                    "z": -0.13165654242038727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.008266914635896683,
                "transform": {
                    "location": {
                        "x": 2187.87451171875,
                        "y": 2560.3095703125,
                        "z": 365.14361572265625
                    },
                    "rotation": {
                        "roll": 0.023405201733112335,
                        "pitch": -0.9007242918014526,
                        "yaw": -90.00751495361328
                    }
                },
                "velocity": {
                    "x": -0.0008114531519822776,
                    "y": 0.00821075402200222,
                    "z": -0.0005166639457456768
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.931868076324463,
                "transform": {
                    "location": {
                        "x": 2140.909912109375,
                        "y": 2527.342041015625,
                        "z": 364.7852783203125
                    },
                    "rotation": {
                        "roll": 0.0016044721705839038,
                        "pitch": 0.0043576606549322605,
                        "yaw": 0.3574535548686981
                    }
                },
                "velocity": {
                    "x": 6.931707382202148,
                    "y": 0.03921814262866974,
                    "z": -0.026232276111841202
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002976885298267007,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 9.869374480331317e-06,
                    "y": -3.3988879295066e-05,
                    "z": -0.0002955770760308951
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003664520045276731,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.2466814698418602e-05,
                    "y": -1.3932910860603442e-06,
                    "z": 0.0003657599736470729
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.92919921875,
                        "y": 2433.482666015625,
                        "z": 364.4661560058594
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.367455005645752,
                "transform": {
                    "location": {
                        "x": 2185.026123046875,
                        "y": 2474.97216796875,
                        "z": 364.9119567871094
                    },
                    "rotation": {
                        "roll": -0.00015257509949151427,
                        "pitch": 0.36423346400260925,
                        "yaw": 89.93673706054688
                    }
                },
                "velocity": {
                    "x": 0.0007110566948540509,
                    "y": 4.367317199707031,
                    "z": 0.03468025103211403
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1501827239990234,
                "transform": {
                    "location": {
                        "x": 2185.019287109375,
                        "y": 2488.714111328125,
                        "z": 365.0116271972656
                    },
                    "rotation": {
                        "roll": 0.0006556076696142554,
                        "pitch": 0.4033021628856659,
                        "yaw": 90.08287048339844
                    }
                },
                "velocity": {
                    "x": -0.0033732769079506397,
                    "y": 3.1501121520996094,
                    "z": 0.02082783728837967
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.494859218597412,
                "transform": {
                    "location": {
                        "x": 2233.1015625,
                        "y": 2524.303955078125,
                        "z": 366.4339904785156
                    },
                    "rotation": {
                        "roll": -0.0174865685403347,
                        "pitch": -1.6589367389678955,
                        "yaw": -179.54356384277344
                    }
                },
                "velocity": {
                    "x": -6.4916276931762695,
                    "y": -0.04836868494749069,
                    "z": -0.19905202090740204
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.284454822540283,
                "transform": {
                    "location": {
                        "x": 2185.131591796875,
                        "y": 2446.0751953125,
                        "z": 364.6224670410156
                    },
                    "rotation": {
                        "roll": 0.007729760836809874,
                        "pitch": 0.5544542074203491,
                        "yaw": 90.62417602539062
                    }
                },
                "velocity": {
                    "x": -0.07464089244604111,
                    "y": 5.2835373878479,
                    "z": 0.06419942528009415
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.11229854822158813,
        "expert_target_speed": 3.424941295494974,
        "target_point": [
            15.305164916117372,
            9.299786385450705
        ],
        "target_point_next": [
            14.812189609197207,
            37.295513925204496
        ]
    },
    "245": {
        "acceleration": [
            0.04659980535507202,
            1.3166284561157227,
            0.021260064095258713
        ],
        "angular_velocity": [
            0.6927089095115662,
            -0.030224496498703957,
            0.37232351303100586
        ],
        "forward_vector": [
            0.02088264189660549,
            0.9997783899307251,
            0.0026546684093773365
        ],
        "right_vector": [
            -0.9997819066047668,
            0.02088278718292713,
            -2.747447979345452e-05
        ],
        "location": [
            2185.180908203125,
            2509.73486328125,
            365.115234375
        ],
        "rotation": [
            0.0015741772949695587,
            0.15210147202014923,
            88.80342102050781
        ],
        "velocity": [
            0.07327823340892792,
            3.145385265350342,
            0.01069524697959423
        ],
        "speed": 3.1462387333091195,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.0782413482666,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2164.607421875,
                2527.337646484375,
                364.7914123535156
            ],
            "velocity": [
                4.989880561828613,
                -0.00995574425905943,
                0.05710464343428612
            ],
            "speed_kmh": 17.96478205536735,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.33466631174087524,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.294921875,
                        "z": 365.0347595214844
                    },
                    "rotation": {
                        "roll": -0.00012207897088956088,
                        "pitch": 0.3802434504032135,
                        "yaw": -89.93731689453125
                    }
                },
                "velocity": {
                    "x": 0.005343508441001177,
                    "y": -0.31817108392715454,
                    "z": 0.10363470017910004
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.9932522773742676,
                "transform": {
                    "location": {
                        "x": 2187.90771484375,
                        "y": 2543.405517578125,
                        "z": 365.16064453125
                    },
                    "rotation": {
                        "roll": 0.001035651657730341,
                        "pitch": -0.07739286869764328,
                        "yaw": -89.92528533935547
                    }
                },
                "velocity": {
                    "x": 0.005112331360578537,
                    "y": -3.993248462677002,
                    "z": 0.002067890018224716
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5396405458450317,
                "transform": {
                    "location": {
                        "x": 2185.058349609375,
                        "y": 2460.820068359375,
                        "z": 364.771240234375
                    },
                    "rotation": {
                        "roll": -0.0005493254866451025,
                        "pitch": 0.5879016518592834,
                        "yaw": 89.92843627929688
                    }
                },
                "velocity": {
                    "x": -0.0037377348635345697,
                    "y": 1.5395644903182983,
                    "z": 0.014832096174359322
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.990217208862305,
                "transform": {
                    "location": {
                        "x": 2164.607421875,
                        "y": 2527.337646484375,
                        "z": 364.7914123535156
                    },
                    "rotation": {
                        "roll": 0.001967956544831395,
                        "pitch": 0.6167318820953369,
                        "yaw": -0.1390685886144638
                    }
                },
                "velocity": {
                    "x": 4.989880561828613,
                    "y": -0.00995574425905943,
                    "z": 0.05710464343428612
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.145855903625488,
                "transform": {
                    "location": {
                        "x": 2209.30859375,
                        "y": 2524.291748046875,
                        "z": 365.74609375
                    },
                    "rotation": {
                        "roll": -0.00024414050858467817,
                        "pitch": -1.5328924655914307,
                        "yaw": 179.8965606689453
                    }
                },
                "velocity": {
                    "x": -5.144023895263672,
                    "y": 0.00930121447890997,
                    "z": -0.1369909644126892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5421772599220276,
                "transform": {
                    "location": {
                        "x": 2187.874755859375,
                        "y": 2560.22314453125,
                        "z": 365.1344299316406
                    },
                    "rotation": {
                        "roll": 0.0007650846964679658,
                        "pitch": 0.29513245820999146,
                        "yaw": -89.99785614013672
                    }
                },
                "velocity": {
                    "x": 0.0008070145267993212,
                    "y": -0.5421721339225769,
                    "z": 0.0022075080778449774
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.19841194152832,
                "transform": {
                    "location": {
                        "x": 2142.83837890625,
                        "y": 2527.352783203125,
                        "z": 364.77789306640625
                    },
                    "rotation": {
                        "roll": -0.00012207030522404239,
                        "pitch": -0.008940717205405235,
                        "yaw": 0.320583701133728
                    }
                },
                "velocity": {
                    "x": 8.1982421875,
                    "y": 0.04368496686220169,
                    "z": -0.029569415375590324
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00012458367564249784,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.3438425412459765e-05,
                    "y": -3.4113804758817423e-06,
                    "z": -0.00012380979023873806
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003746367583516985,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.4346204807225149e-05,
                    "y": 2.9789018299197778e-05,
                    "z": 0.00037317490205168724
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.9296875,
                        "y": 2432.21533203125,
                        "z": 364.449951171875
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.281217098236084,
                "transform": {
                    "location": {
                        "x": 2185.026123046875,
                        "y": 2476.197998046875,
                        "z": 364.9220275878906
                    },
                    "rotation": {
                        "roll": -0.0006103667546994984,
                        "pitch": 0.3586327135562897,
                        "yaw": 89.95952606201172
                    }
                },
                "velocity": {
                    "x": 0.0011811037547886372,
                    "y": 5.281032562255859,
                    "z": 0.044100321829319
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3641562461853027,
                "transform": {
                    "location": {
                        "x": 2185.0185546875,
                        "y": 2489.553955078125,
                        "z": 365.0174865722656
                    },
                    "rotation": {
                        "roll": 0.0005427704309113324,
                        "pitch": 0.3568841814994812,
                        "yaw": 90.0779037475586
                    }
                },
                "velocity": {
                    "x": -0.00455666845664382,
                    "y": 3.364084005355835,
                    "z": 0.02156747691333294
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.370442390441895,
                "transform": {
                    "location": {
                        "x": 2231.18896484375,
                        "y": 2524.289306640625,
                        "z": 366.37530517578125
                    },
                    "rotation": {
                        "roll": -0.012664795853197575,
                        "pitch": -1.6315271854400635,
                        "yaw": -179.56857299804688
                    }
                },
                "velocity": {
                    "x": -8.366427421569824,
                    "y": -0.038113515824079514,
                    "z": -0.256421834230423
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.612648963928223,
                "transform": {
                    "location": {
                        "x": 2185.11865234375,
                        "y": 2447.4140625,
                        "z": 364.6375732421875
                    },
                    "rotation": {
                        "roll": 0.0020605637691915035,
                        "pitch": 0.6042463183403015,
                        "yaw": 90.61283111572266
                    }
                },
                "velocity": {
                    "x": -0.04378499463200569,
                    "y": 5.6121134757995605,
                    "z": 0.06398379802703857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.32817578315734863,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13225707411766052,
        "expert_target_speed": 3.1791369118346453,
        "target_point": [
            14.537857791734366,
            9.317559444172144
        ],
        "target_point_next": [
            14.014699776620228,
            37.312739222565845
        ]
    },
    "250": {
        "acceleration": [
            0.04415631294250488,
            1.057600975036621,
            0.003861803561449051
        ],
        "angular_velocity": [
            0.21750710904598236,
            -0.016690656542778015,
            -0.8647457361221313
        ],
        "forward_vector": [
            0.022296767681837082,
            0.9997392296791077,
            0.004928092006593943
        ],
        "right_vector": [
            -0.9997513890266418,
            0.022297339513897896,
            -6.077764192014001e-05
        ],
        "location": [
            2185.20068359375,
            2510.5712890625,
            365.1174621582031
        ],
        "rotation": [
            0.0034823447931557894,
            0.2823600172996521,
            88.72236633300781
        ],
        "velocity": [
            0.0860743522644043,
            3.50502872467041,
            0.010244903154671192
        ],
        "speed": 3.5060854460327144,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 25.664926528930664,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2165.76953125,
                2527.3349609375,
                364.8041687011719
            ],
            "velocity": [
                4.131979465484619,
                -0.010498167015612125,
                0.052349623292684555
            ],
            "speed_kmh": 14.87636786218059,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7334539890289307,
                "transform": {
                    "location": {
                        "x": 2187.78125,
                        "y": 2575.99609375,
                        "z": 365.0494689941406
                    },
                    "rotation": {
                        "roll": 0.0004148983280174434,
                        "pitch": 0.5292576551437378,
                        "yaw": -89.76726531982422
                    }
                },
                "velocity": {
                    "x": 0.013009808957576752,
                    "y": -1.7331311702728271,
                    "z": 0.03081539086997509
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.98020601272583,
                "transform": {
                    "location": {
                        "x": 2187.90966796875,
                        "y": 2542.39892578125,
                        "z": 365.1607666015625
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.02600252814590931,
                        "yaw": -89.91949462890625
                    }
                },
                "velocity": {
                    "x": 0.006681190803647041,
                    "y": -3.9802000522613525,
                    "z": 0.0015958595322445035
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0298092365264893,
                "transform": {
                    "location": {
                        "x": 2185.05712890625,
                        "y": 2461.27001953125,
                        "z": 364.77569580078125
                    },
                    "rotation": {
                        "roll": -0.0010375757701694965,
                        "pitch": 0.5852652192115784,
                        "yaw": 89.97935485839844
                    }
                },
                "velocity": {
                    "x": -0.005143648944795132,
                    "y": 2.029714345932007,
                    "z": 0.018942594528198242
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.13232421875,
                "transform": {
                    "location": {
                        "x": 2165.76953125,
                        "y": 2527.3349609375,
                        "z": 364.8041687011719
                    },
                    "rotation": {
                        "roll": 0.0006716536590829492,
                        "pitch": 0.5257810950279236,
                        "yaw": -0.1921996921300888
                    }
                },
                "velocity": {
                    "x": 4.131979465484619,
                    "y": -0.010498167015612125,
                    "z": 0.052349623292684555
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.920647621154785,
                "transform": {
                    "location": {
                        "x": 2208.054443359375,
                        "y": 2524.29443359375,
                        "z": 365.7121887207031
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -1.507532000541687,
                        "yaw": 179.8914794921875
                    }
                },
                "velocity": {
                    "x": -4.918835163116455,
                    "y": 0.011152694933116436,
                    "z": -0.13307863473892212
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6712111830711365,
                "transform": {
                    "location": {
                        "x": 2187.874755859375,
                        "y": 2560.056640625,
                        "z": 365.13421630859375
                    },
                    "rotation": {
                        "roll": -0.0012207116233184934,
                        "pitch": 0.39373305439949036,
                        "yaw": -90.00006103515625
                    }
                },
                "velocity": {
                    "x": 0.0028463497292250395,
                    "y": -0.6712024807929993,
                    "z": 0.0018955421401187778
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.125261306762695,
                "transform": {
                    "location": {
                        "x": 2144.903076171875,
                        "y": 2527.35888671875,
                        "z": 364.7698669433594
                    },
                    "rotation": {
                        "roll": 0.007385256700217724,
                        "pitch": -0.17447033524513245,
                        "yaw": 0.15067821741104126
                    }
                },
                "velocity": {
                    "x": 8.12518310546875,
                    "y": 0.016991155222058296,
                    "z": -0.03139727935194969
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.599402255844325e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 3.4505874282331206e-06,
                    "y": 8.745477316551842e-06,
                    "z": 9.553252311889082e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4793656848487444e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 6.395354830601718e-06,
                    "y": 3.091595033311023e-07,
                    "z": -2.3952645278768614e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85962,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.930419921875,
                        "y": 2431.0078125,
                        "z": 364.4344482421875
                    },
                    "rotation": {
                        "roll": -2.668266141370168e-08,
                        "pitch": -0.7413896918296814,
                        "yaw": -89.93963623046875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.6366496086120605,
                "transform": {
                    "location": {
                        "x": 2185.026123046875,
                        "y": 2477.5478515625,
                        "z": 364.9325256347656
                    },
                    "rotation": {
                        "roll": -0.00015260216605383903,
                        "pitch": 0.3864179253578186,
                        "yaw": 89.9541244506836
                    }
                },
                "velocity": {
                    "x": -0.0023886181879788637,
                    "y": 5.636476993560791,
                    "z": 0.04407237097620964
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.133873462677002,
                "transform": {
                    "location": {
                        "x": 2185.0166015625,
                        "y": 2490.380859375,
                        "z": 365.0224609375
                    },
                    "rotation": {
                        "roll": 0.0007353290566243231,
                        "pitch": 0.38459426164627075,
                        "yaw": 90.07780456542969
                    }
                },
                "velocity": {
                    "x": -0.004282557405531406,
                    "y": 3.1338000297546387,
                    "z": 0.0210309699177742
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.11461067199707,
                "transform": {
                    "location": {
                        "x": 2229.105224609375,
                        "y": 2524.28076171875,
                        "z": 366.3113708496094
                    },
                    "rotation": {
                        "roll": -0.007232664618641138,
                        "pitch": -1.7771536111831665,
                        "yaw": -179.78529357910156
                    }
                },
                "velocity": {
                    "x": -8.110580444335938,
                    "y": -0.021965142339468002,
                    "z": -0.2547609508037567
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.405934810638428,
                "transform": {
                    "location": {
                        "x": 2185.107421875,
                        "y": 2448.82177734375,
                        "z": 364.653076171875
                    },
                    "rotation": {
                        "roll": 0.003420791123062372,
                        "pitch": 0.6602401733398438,
                        "yaw": 90.52327728271484
                    }
                },
                "velocity": {
                    "x": -0.03994366526603699,
                    "y": 5.4054388999938965,
                    "z": 0.06138749048113823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15782037377357483,
        "expert_target_speed": 2.419641253239749,
        "target_point": [
            13.688011126823536,
            9.339226856501428
        ],
        "target_point_next": [
            13.125273441826064,
            37.33363900305749
        ]
    },
    "255": {
        "acceleration": [
            -0.10092765092849731,
            -4.500164985656738,
            -0.005441661924123764
        ],
        "angular_velocity": [
            -1.4431670904159546,
            0.08281833678483963,
            0.5817254781723022
        ],
        "forward_vector": [
            0.023465441539883614,
            0.9997237324714661,
            0.0013412232510745525
        ],
        "right_vector": [
            -0.9997246265411377,
            0.023465491831302643,
            -2.1779849703307264e-05
        ],
        "location": [
            2185.220947265625,
            2511.384765625,
            365.1206970214844
        ],
        "rotation": [
            0.0012478946009650826,
            0.07684645056724548,
            88.65540313720703
        ],
        "velocity": [
            0.0731460303068161,
            2.818516731262207,
            0.009852256625890732
        ],
        "speed": 2.819465712888639,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 24.31818199157715,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2166.8642578125,
                2527.33203125,
                364.8196716308594
            ],
            "velocity": [
                4.775778770446777,
                -0.010387977585196495,
                0.06521064788103104
            ],
            "speed_kmh": 17.19444691491746,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0368411540985107,
                "transform": {
                    "location": {
                        "x": 2187.7861328125,
                        "y": 2575.40673828125,
                        "z": 365.0553894042969
                    },
                    "rotation": {
                        "roll": -3.052380998269655e-05,
                        "pitch": 0.5491403341293335,
                        "yaw": -89.66404724121094
                    }
                },
                "velocity": {
                    "x": 0.02728089690208435,
                    "y": -3.0366408824920654,
                    "z": 0.021750496700406075
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.7589972019195557,
                "transform": {
                    "location": {
                        "x": 2187.91162109375,
                        "y": 2541.453125,
                        "z": 365.1610107421875
                    },
                    "rotation": {
                        "roll": 5.894378773518838e-05,
                        "pitch": -0.08148415386676788,
                        "yaw": -89.91747283935547
                    }
                },
                "velocity": {
                    "x": 0.005437405779957771,
                    "y": -3.758993148803711,
                    "z": 0.0004871368291787803
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5772881507873535,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2461.848388671875,
                        "z": 364.7814025878906
                    },
                    "rotation": {
                        "roll": -6.102133193053305e-05,
                        "pitch": 0.5865492820739746,
                        "yaw": 90.01539611816406
                    }
                },
                "velocity": {
                    "x": -0.004639228340238333,
                    "y": 2.577160596847534,
                    "z": 0.025212116539478302
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.776235103607178,
                "transform": {
                    "location": {
                        "x": 2166.8642578125,
                        "y": 2527.33203125,
                        "z": 364.8196716308594
                    },
                    "rotation": {
                        "roll": 0.0014216996496543288,
                        "pitch": 0.8237549066543579,
                        "yaw": -0.152435302734375
                    }
                },
                "velocity": {
                    "x": 4.775778770446777,
                    "y": -0.010387977585196495,
                    "z": 0.06521064788103104
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.6338210105896,
                "transform": {
                    "location": {
                        "x": 2206.87744140625,
                        "y": 2524.297119140625,
                        "z": 365.6807861328125
                    },
                    "rotation": {
                        "roll": -0.0005493163480423391,
                        "pitch": -1.493980884552002,
                        "yaw": 179.88246154785156
                    }
                },
                "velocity": {
                    "x": -4.63215970993042,
                    "y": 0.011017348617315292,
                    "z": -0.12357791513204575
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8382540941238403,
                "transform": {
                    "location": {
                        "x": 2187.87451171875,
                        "y": 2559.8876953125,
                        "z": 365.136474609375
                    },
                    "rotation": {
                        "roll": 0.0004899154882878065,
                        "pitch": 0.19537754356861115,
                        "yaw": -89.98583984375
                    }
                },
                "velocity": {
                    "x": 0.002719410229474306,
                    "y": -0.8382457494735718,
                    "z": 0.0025734996888786554
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.933145999908447,
                "transform": {
                    "location": {
                        "x": 2146.893310546875,
                        "y": 2527.36181640625,
                        "z": 364.7621765136719
                    },
                    "rotation": {
                        "roll": 0.004986919928342104,
                        "pitch": -0.23288211226463318,
                        "yaw": 0.07174264639616013
                    }
                },
                "velocity": {
                    "x": 7.933084487915039,
                    "y": 0.008347750641405582,
                    "z": -0.030083397403359413
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3068292901152745e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 9.810104529606178e-06,
                    "y": -1.3442851241052267e-06,
                    "z": -8.528482794645242e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00013647758169099689,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.999918276851531e-05,
                    "y": 5.503692591446452e-06,
                    "z": 0.00013489207776729017
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.195499420166016,
                "transform": {
                    "location": {
                        "x": 2185.0263671875,
                        "y": 2478.889892578125,
                        "z": 364.9416809082031
                    },
                    "rotation": {
                        "roll": -0.0013427505036816,
                        "pitch": 0.533362627029419,
                        "yaw": 89.9794692993164
                    }
                },
                "velocity": {
                    "x": -0.001221897779032588,
                    "y": 4.1953911781311035,
                    "z": 0.030123500153422356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.392472982406616,
                "transform": {
                    "location": {
                        "x": 2185.015869140625,
                        "y": 2491.170166015625,
                        "z": 365.02777099609375
                    },
                    "rotation": {
                        "roll": 9.486400813329965e-05,
                        "pitch": 0.34874942898750305,
                        "yaw": 90.07213592529297
                    }
                },
                "velocity": {
                    "x": -0.004324016626924276,
                    "y": 3.3924007415771484,
                    "z": 0.021702097728848457
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.924431800842285,
                "transform": {
                    "location": {
                        "x": 2227.120361328125,
                        "y": 2524.275390625,
                        "z": 366.2500305175781
                    },
                    "rotation": {
                        "roll": -0.0068359375,
                        "pitch": -1.789646029472351,
                        "yaw": -179.8560791015625
                    }
                },
                "velocity": {
                    "x": -7.920629501342773,
                    "y": -0.020150285214185715,
                    "z": -0.24462760984897614
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5955039858818054,
                "transform": {
                    "location": {
                        "x": 2185.101806640625,
                        "y": 2449.533935546875,
                        "z": 364.6578674316406
                    },
                    "rotation": {
                        "roll": 0.005479288287460804,
                        "pitch": 1.032581090927124,
                        "yaw": 90.49724578857422
                    }
                },
                "velocity": {
                    "x": -0.0043668667785823345,
                    "y": 0.5954417586326599,
                    "z": 0.007416562642902136
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18283365666866302,
        "expert_target_speed": 0.0,
        "target_point": [
            12.863325241362986,
            9.356435598888451
        ],
        "target_point_next": [
            12.267769984934185,
            37.350168809553686
        ]
    },
    "260": {
        "acceleration": [
            -0.2253570854663849,
            -12.86553955078125,
            -0.052148494869470596
        ],
        "angular_velocity": [
            -3.314674139022827,
            0.03350847214460373,
            0.0020257155410945415
        ],
        "forward_vector": [
            0.026313120499253273,
            0.9995961785316467,
            -0.010725411586463451
        ],
        "right_vector": [
            -0.9996536374092102,
            0.026316851377487183,
            0.00020665022020693868
        ],
        "location": [
            2185.23095703125,
            2511.805908203125,
            365.1246643066406
        ],
        "rotation": [
            -0.01184086687862873,
            -0.6145325899124146,
            88.49211120605469
        ],
        "velocity": [
            -0.00022705414448864758,
            0.010307914577424526,
            0.00016083437367342412
        ],
        "speed": 0.01031041495382269,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 23.201513290405273,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2167.990478515625,
                2527.329833984375,
                364.8350830078125
            ],
            "velocity": [
                4.1549973487854,
                -0.008412674069404602,
                0.05642180144786835
            ],
            "speed_kmh": 14.95940014869775,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.596800327301025,
                "transform": {
                    "location": {
                        "x": 2187.795654296875,
                        "y": 2574.43505859375,
                        "z": 365.0617980957031
                    },
                    "rotation": {
                        "roll": -0.0010375751880928874,
                        "pitch": 0.5813173651695251,
                        "yaw": -89.54027557373047
                    }
                },
                "velocity": {
                    "x": 0.045042213052511215,
                    "y": -4.596498966217041,
                    "z": 0.02720717340707779
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2264819145202637,
                "transform": {
                    "location": {
                        "x": 2187.893310546875,
                        "y": 2540.549072265625,
                        "z": 365.1612854003906
                    },
                    "rotation": {
                        "roll": 0.15853826701641083,
                        "pitch": -0.1546354740858078,
                        "yaw": -90.67542266845703
                    }
                },
                "velocity": {
                    "x": -0.1597006618976593,
                    "y": -3.222526788711548,
                    "z": -0.0014416027115657926
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.123758316040039,
                "transform": {
                    "location": {
                        "x": 2185.0537109375,
                        "y": 2462.56201171875,
                        "z": 364.78851318359375
                    },
                    "rotation": {
                        "roll": -0.0003051866951864213,
                        "pitch": 0.5869932770729065,
                        "yaw": 90.04405212402344
                    }
                },
                "velocity": {
                    "x": -0.005331746768206358,
                    "y": 3.1236073970794678,
                    "z": 0.030240096151828766
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.155388832092285,
                "transform": {
                    "location": {
                        "x": 2167.990478515625,
                        "y": 2527.329833984375,
                        "z": 364.8350830078125
                    },
                    "rotation": {
                        "roll": 0.00047886939137242734,
                        "pitch": 0.863957405090332,
                        "yaw": -0.1303100436925888
                    }
                },
                "velocity": {
                    "x": 4.1549973487854,
                    "y": -0.008412674069404602,
                    "z": 0.05642180144786835
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.392693519592285,
                "transform": {
                    "location": {
                        "x": 2205.744384765625,
                        "y": 2524.299560546875,
                        "z": 365.6506652832031
                    },
                    "rotation": {
                        "roll": -0.00015258790517691523,
                        "pitch": -1.4952991008758545,
                        "yaw": 179.88174438476562
                    }
                },
                "velocity": {
                    "x": -4.391165256500244,
                    "y": 0.009054204449057579,
                    "z": -0.11550541967153549
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9507966041564941,
                "transform": {
                    "location": {
                        "x": 2187.875244140625,
                        "y": 2559.5400390625,
                        "z": 365.13616943359375
                    },
                    "rotation": {
                        "roll": -0.0009765657596290112,
                        "pitch": 0.38622668385505676,
                        "yaw": -89.93976593017578
                    }
                },
                "velocity": {
                    "x": 0.005789765156805515,
                    "y": -1.9507784843444824,
                    "z": 0.006078052334487438
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.041688919067383,
                "transform": {
                    "location": {
                        "x": 2148.901123046875,
                        "y": 2527.36279296875,
                        "z": 364.7545471191406
                    },
                    "rotation": {
                        "roll": 0.00458183279260993,
                        "pitch": -0.2087988704442978,
                        "yaw": 0.013335769064724445
                    }
                },
                "velocity": {
                    "x": 8.041632652282715,
                    "y": -0.0013046754756942391,
                    "z": -0.030018743127584457
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015507201896980405,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 7.398910838674055e-06,
                    "y": -2.697451418498531e-05,
                    "z": -0.00015252856246661395
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000499793270137161,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 8.600167348049581e-06,
                    "y": -1.6977823179331608e-05,
                    "z": 0.0004994307528249919
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000947272521443665,
                "transform": {
                    "location": {
                        "x": 2185.02685546875,
                        "y": 2479.334716796875,
                        "z": 364.94244384765625
                    },
                    "rotation": {
                        "roll": -0.0018005954334512353,
                        "pitch": 0.8544634580612183,
                        "yaw": 90.0372543334961
                    }
                },
                "velocity": {
                    "x": 0.00010970862058456987,
                    "y": -0.0005497936508618295,
                    "z": 0.000763554940931499
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1732676029205322,
                "transform": {
                    "location": {
                        "x": 2185.014892578125,
                        "y": 2492.02978515625,
                        "z": 365.0329284667969
                    },
                    "rotation": {
                        "roll": 0.000515436171554029,
                        "pitch": 0.3633318841457367,
                        "yaw": 90.06889343261719
                    }
                },
                "velocity": {
                    "x": -0.003872297238558531,
                    "y": 3.1731982231140137,
                    "z": 0.020609626546502113
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 8.144937515258789,
                "transform": {
                    "location": {
                        "x": 2225.10595703125,
                        "y": 2524.27294921875,
                        "z": 366.1877746582031
                    },
                    "rotation": {
                        "roll": -0.0024108884390443563,
                        "pitch": -1.741206407546997,
                        "yaw": -179.9449920654297
                    }
                },
                "velocity": {
                    "x": -8.141161918640137,
                    "y": -0.0004755884001497179,
                    "z": -0.2479720413684845
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1647439002990723,
                "transform": {
                    "location": {
                        "x": 2185.100830078125,
                        "y": 2449.68359375,
                        "z": 364.66241455078125
                    },
                    "rotation": {
                        "roll": 0.003951472695916891,
                        "pitch": 0.6923694014549255,
                        "yaw": 90.5026626586914
                    }
                },
                "velocity": {
                    "x": -0.008408896625041962,
                    "y": 1.1646372079849243,
                    "z": 0.01333056390285492
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.19990451633930206,
        "expert_target_speed": 0.0,
        "target_point": [
            12.415351007264738,
            9.391976475211838
        ],
        "target_point_next": [
            11.740027926478053,
            37.38389895063175
        ]
    },
    "265": {
        "acceleration": [
            -0.0019542337395250797,
            0.011144829913973808,
            0.006880136206746101
        ],
        "angular_velocity": [
            1.9303334951400757,
            -0.07957839220762253,
            -0.0009804763831198215
        ],
        "forward_vector": [
            0.026318103075027466,
            0.9996405243873596,
            -0.005119659006595612
        ],
        "right_vector": [
            -0.9996536374092102,
            0.026319080963730812,
            0.00012356902880128473
        ],
        "location": [
            2185.231201171875,
            2511.807861328125,
            365.12347412109375
        ],
        "rotation": [
            -0.007080076728016138,
            -0.2933361232280731,
            88.49188995361328
        ],
        "velocity": [
            -0.00038879498606547713,
            -0.006103131454437971,
            0.00035346101503819227
        ],
        "speed": 0.0061155028486085915,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 22.431638717651367,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2169.037353515625,
                2527.32763671875,
                364.85101318359375
            ],
            "velocity": [
                4.1728515625,
                -0.008454056456685066,
                0.07158248871564865
            ],
            "speed_kmh": 15.024506597422862,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.569570064544678,
                "transform": {
                    "location": {
                        "x": 2187.80859375,
                        "y": 2573.1396484375,
                        "z": 365.0696716308594
                    },
                    "rotation": {
                        "roll": 0.0017553208163008094,
                        "pitch": 0.5078518390655518,
                        "yaw": -89.47576141357422
                    }
                },
                "velocity": {
                    "x": 0.0581434965133667,
                    "y": -5.569162368774414,
                    "z": 0.034052249044179916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.211226463317871,
                "transform": {
                    "location": {
                        "x": 2187.864013671875,
                        "y": 2539.93212890625,
                        "z": 365.1625671386719
                    },
                    "rotation": {
                        "roll": 0.035084910690784454,
                        "pitch": -0.5311496257781982,
                        "yaw": -91.48532104492188
                    }
                },
                "velocity": {
                    "x": -0.06940798461437225,
                    "y": -1.2092349529266357,
                    "z": -0.0017266845097765326
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8346705436706543,
                "transform": {
                    "location": {
                        "x": 2185.05224609375,
                        "y": 2463.43115234375,
                        "z": 364.796875
                    },
                    "rotation": {
                        "roll": 0.0002279693871969357,
                        "pitch": 0.5833390951156616,
                        "yaw": 90.06607055664062
                    }
                },
                "velocity": {
                    "x": -0.006868981756269932,
                    "y": 3.8344955444335938,
                    "z": 0.035989969968795776
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.173473834991455,
                "transform": {
                    "location": {
                        "x": 2169.037353515625,
                        "y": 2527.32763671875,
                        "z": 364.85101318359375
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 0.9714782238006592,
                        "yaw": -0.124359130859375
                    }
                },
                "velocity": {
                    "x": 4.1728515625,
                    "y": -0.008454056456685066,
                    "z": 0.07158248871564865
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.230783462524414,
                "transform": {
                    "location": {
                        "x": 2204.665771484375,
                        "y": 2524.3017578125,
                        "z": 365.6230773925781
                    },
                    "rotation": {
                        "roll": 0.0004901419742964208,
                        "pitch": -1.4617559909820557,
                        "yaw": 179.87705993652344
                    }
                },
                "velocity": {
                    "x": -4.229449272155762,
                    "y": 0.008991464972496033,
                    "z": -0.10586903989315033
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.5776374340057373,
                "transform": {
                    "location": {
                        "x": 2187.876708984375,
                        "y": 2558.86328125,
                        "z": 365.1369323730469
                    },
                    "rotation": {
                        "roll": -0.002349855611100793,
                        "pitch": 0.5555607080459595,
                        "yaw": -89.89373779296875
                    }
                },
                "velocity": {
                    "x": 0.011244191788136959,
                    "y": -3.5776045322418213,
                    "z": 0.010441169142723083
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.478121280670166,
                "transform": {
                    "location": {
                        "x": 2150.843994140625,
                        "y": 2527.362060546875,
                        "z": 364.7472839355469
                    },
                    "rotation": {
                        "roll": 0.0027206232771277428,
                        "pitch": -0.27392470836639404,
                        "yaw": -0.0379028283059597
                    }
                },
                "velocity": {
                    "x": 7.478084564208984,
                    "y": -0.00546913780272007,
                    "z": -0.022762179374694824
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004915794124826789,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.656934546190314e-05,
                    "y": -1.3281222891237121e-05,
                    "z": -0.0004911205032840371
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.929743616026826e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.9957422409788705e-05,
                    "y": -3.383946022950113e-05,
                    "z": 9.383410883856413e-07
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3419438600540161,
                "transform": {
                    "location": {
                        "x": 2185.02685546875,
                        "y": 2479.538330078125,
                        "z": 364.9474182128906
                    },
                    "rotation": {
                        "roll": -0.0017394942697137594,
                        "pitch": 0.4376033544540405,
                        "yaw": 90.03922271728516
                    }
                },
                "velocity": {
                    "x": -0.000961453071795404,
                    "y": 1.3419075012207031,
                    "z": 0.009836606681346893
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.17950177192688,
                "transform": {
                    "location": {
                        "x": 2185.014892578125,
                        "y": 2492.69091796875,
                        "z": 365.0364685058594
                    },
                    "rotation": {
                        "roll": -0.0006408826448023319,
                        "pitch": 0.4394133687019348,
                        "yaw": 90.067626953125
                    }
                },
                "velocity": {
                    "x": -0.0025649573653936386,
                    "y": 2.1794590950012207,
                    "z": 0.013390273787081242
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.789760589599609,
                "transform": {
                    "location": {
                        "x": 2223.10302734375,
                        "y": 2524.272705078125,
                        "z": 366.1268310546875
                    },
                    "rotation": {
                        "roll": -0.0021362300030887127,
                        "pitch": -1.7723110914230347,
                        "yaw": 179.99288940429688
                    }
                },
                "velocity": {
                    "x": -7.7861247062683105,
                    "y": 0.0030676862224936485,
                    "z": -0.2379528433084488
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0819644927978516,
                "transform": {
                    "location": {
                        "x": 2185.09765625,
                        "y": 2450.096435546875,
                        "z": 364.66815185546875
                    },
                    "rotation": {
                        "roll": 0.003835496259853244,
                        "pitch": 0.5630192756652832,
                        "yaw": 90.4847640991211
                    }
                },
                "velocity": {
                    "x": -0.01503435242921114,
                    "y": 2.081785202026367,
                    "z": 0.022812766954302788
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1965179145336151,
        "expert_target_speed": 0.0,
        "target_point": [
            12.41334958782253,
            9.392225366428487
        ],
        "target_point_next": [
            11.7378997049495,
            37.38414478237938
        ]
    },
    "270": {
        "acceleration": [
            0.01981114223599434,
            1.032214641571045,
            0.009611701592803001
        ],
        "angular_velocity": [
            0.9283456206321716,
            -0.014468337409198284,
            0.5862292051315308
        ],
        "forward_vector": [
            0.026246942579746246,
            0.9996553659439087,
            0.0005173683166503906
        ],
        "right_vector": [
            -0.9996554851531982,
            0.02624688670039177,
            0.00011504851136123762
        ],
        "location": [
            2185.231201171875,
            2511.8125,
            365.12225341796875
        ],
        "rotation": [
            -0.006591795012354851,
            0.029643019661307335,
            88.49598693847656
        ],
        "velocity": [
            0.0005699173780158162,
            0.03714793920516968,
            0.0009720039088279009
        ],
        "speed": 0.03715231073579067,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.73341941833496,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.012451171875,
                2527.325927734375,
                364.8677673339844
            ],
            "velocity": [
                3.6293885707855225,
                -0.0077883899211883545,
                0.06196620687842369
            ],
            "speed_kmh": 13.067733154743829,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.9498291015625
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 4.004349907216209e-10,
                    "y": -8.802933425602899e-13,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.001226425170898,
                "transform": {
                    "location": {
                        "x": 2187.82421875,
                        "y": 2571.705322265625,
                        "z": 365.0777587890625
                    },
                    "rotation": {
                        "roll": 0.0024975764099508524,
                        "pitch": 0.4034387469291687,
                        "yaw": -89.42981719970703
                    }
                },
                "velocity": {
                    "x": 0.0636507049202919,
                    "y": -6.000791549682617,
                    "z": 0.03417515754699707
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00716702826321125,
                "transform": {
                    "location": {
                        "x": 2187.86328125,
                        "y": 2539.91015625,
                        "z": 365.1630859375
                    },
                    "rotation": {
                        "roll": -0.030853213742375374,
                        "pitch": -0.6815776824951172,
                        "yaw": -91.53963470458984
                    }
                },
                "velocity": {
                    "x": 0.0010670135961845517,
                    "y": 0.007055655587464571,
                    "z": -0.0006674616015516222
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.73356819152832,
                "transform": {
                    "location": {
                        "x": 2185.05029296875,
                        "y": 2464.502685546875,
                        "z": 364.80706787109375
                    },
                    "rotation": {
                        "roll": 0.0008215048583224416,
                        "pitch": 0.5744803547859192,
                        "yaw": 90.07792663574219
                    }
                },
                "velocity": {
                    "x": -0.006832100450992584,
                    "y": 4.733354568481445,
                    "z": 0.04447266459465027
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6299259662628174,
                "transform": {
                    "location": {
                        "x": 2170.012451171875,
                        "y": 2527.325927734375,
                        "z": 364.8677673339844
                    },
                    "rotation": {
                        "roll": 0.0010668742470443249,
                        "pitch": 0.9146920442581177,
                        "yaw": -0.12481689453125
                    }
                },
                "velocity": {
                    "x": 3.6293885707855225,
                    "y": -0.0077883899211883545,
                    "z": 0.06196620687842369
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.032247066497803,
                "transform": {
                    "location": {
                        "x": 2203.63720703125,
                        "y": 2524.303955078125,
                        "z": 365.59698486328125
                    },
                    "rotation": {
                        "roll": 0.0009769957978278399,
                        "pitch": -1.4199825525283813,
                        "yaw": 179.87965393066406
                    }
                },
                "velocity": {
                    "x": -4.030928134918213,
                    "y": 0.008473450317978859,
                    "z": -0.10278058797121048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.445680141448975,
                "transform": {
                    "location": {
                        "x": 2187.880615234375,
                        "y": 2557.722412109375,
                        "z": 365.13995361328125
                    },
                    "rotation": {
                        "roll": -0.0009155177394859493,
                        "pitch": 0.6504184007644653,
                        "yaw": -89.86751556396484
                    }
                },
                "velocity": {
                    "x": 0.018007420003414154,
                    "y": -5.445618629455566,
                    "z": 0.018554992973804474
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.103278160095215,
                "transform": {
                    "location": {
                        "x": 2152.656494140625,
                        "y": 2527.3603515625,
                        "z": 364.7430419921875
                    },
                    "rotation": {
                        "roll": -0.0004272459773346782,
                        "pitch": -0.15106327831745148,
                        "yaw": -0.0502319261431694
                    }
                },
                "velocity": {
                    "x": 7.103254318237305,
                    "y": -0.006240741349756718,
                    "z": -0.017287597060203552
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016323133604601026,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 4.552379323286004e-06,
                    "y": -2.8899532935611205e-06,
                    "z": -0.0001631422492209822
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004933120799250901,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 7.558800007245736e-06,
                    "y": -1.2616502317541745e-05,
                    "z": 0.0004930927534587681
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1405203342437744,
                "transform": {
                    "location": {
                        "x": 2185.027099609375,
                        "y": 2479.982421875,
                        "z": 364.95135498046875
                    },
                    "rotation": {
                        "roll": -0.00024413058417849243,
                        "pitch": 0.3552039563655853,
                        "yaw": 90.05333709716797
                    }
                },
                "velocity": {
                    "x": -0.001837625284679234,
                    "y": 2.140465021133423,
                    "z": 0.015269136056303978
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6407800912857056,
                "transform": {
                    "location": {
                        "x": 2185.014892578125,
                        "y": 2493.14404296875,
                        "z": 365.0395202636719
                    },
                    "rotation": {
                        "roll": 0.0002066451997961849,
                        "pitch": 0.4107128977775574,
                        "yaw": 90.06629180908203
                    }
                },
                "velocity": {
                    "x": -0.0018934214022010565,
                    "y": 1.6407500505447388,
                    "z": 0.009741601534187794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.237807750701904,
                "transform": {
                    "location": {
                        "x": 2221.235595703125,
                        "y": 2524.2734375,
                        "z": 366.06988525390625
                    },
                    "rotation": {
                        "roll": -0.0021667482797056437,
                        "pitch": -1.7858279943466187,
                        "yaw": 179.97140502929688
                    }
                },
                "velocity": {
                    "x": -7.234447002410889,
                    "y": 0.007232143077999353,
                    "z": -0.2204243391752243
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9414218664169312,
                "transform": {
                    "location": {
                        "x": 2185.093505859375,
                        "y": 2450.622802734375,
                        "z": 364.6734924316406
                    },
                    "rotation": {
                        "roll": 0.003536788746714592,
                        "pitch": 0.6369970440864563,
                        "yaw": 90.46883392333984
                    }
                },
                "velocity": {
                    "x": -0.01371768955141306,
                    "y": 1.9412561655044556,
                    "z": 0.021334419026970863
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1995822936296463,
        "expert_target_speed": 0.0,
        "target_point": [
            12.409373071517017,
            9.391230506734763
        ],
        "target_point_next": [
            11.735891959440798,
            37.383197360191815
        ]
    },
    "275": {
        "acceleration": [
            -0.0075105042196810246,
            -0.22355717420578003,
            -0.01900634728372097
        ],
        "angular_velocity": [
            0.1985197514295578,
            0.00297499168664217,
            -0.0144596416503191
        ],
        "forward_vector": [
            0.026285959407687187,
            0.9996516704559326,
            0.002379415091127157
        ],
        "right_vector": [
            -0.9996544718742371,
            0.026285771280527115,
            0.00011078710667788982
        ],
        "location": [
            2185.231201171875,
            2511.81640625,
            365.1219177246094
        ],
        "rotation": [
            -0.006347651593387127,
            0.13633057475090027,
            88.4937515258789
        ],
        "velocity": [
            0.00024050944193731993,
            0.005347094032913446,
            0.0010431099217385054
        ],
        "speed": 0.005352500293178842,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.220399856567383,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.748291015625,
                2527.32421875,
                364.8802185058594
            ],
            "velocity": [
                2.298548936843872,
                -0.004835089202970266,
                0.04085247963666916
            ],
            "speed_kmh": 8.276101313811367,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.20331609249115,
                "transform": {
                    "location": {
                        "x": 2236.9375,
                        "y": 2524.330322265625,
                        "z": 366.55810546875
                    },
                    "rotation": {
                        "roll": 0.000504194526001811,
                        "pitch": -1.7543271780014038,
                        "yaw": 179.87429809570312
                    }
                },
                "velocity": {
                    "x": 0.03574191406369209,
                    "y": 7.18211304047145e-05,
                    "z": -1.2027851343154907
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.602733612060547,
                "transform": {
                    "location": {
                        "x": 2187.839599609375,
                        "y": 2570.0810546875,
                        "z": 365.0867004394531
                    },
                    "rotation": {
                        "roll": 0.008775167167186737,
                        "pitch": 0.3892114758491516,
                        "yaw": -89.48797607421875
                    }
                },
                "velocity": {
                    "x": 0.0515289381146431,
                    "y": -6.60243034362793,
                    "z": 0.0367666520178318
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.003478717291727662,
                "transform": {
                    "location": {
                        "x": 2187.863037109375,
                        "y": 2539.90771484375,
                        "z": 365.1614685058594
                    },
                    "rotation": {
                        "roll": -0.012237555347383022,
                        "pitch": -0.258392870426178,
                        "yaw": -91.5401611328125
                    }
                },
                "velocity": {
                    "x": 0.0005088609177619219,
                    "y": 0.003415794111788273,
                    "z": 0.00041819311445578933
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.257080554962158,
                "transform": {
                    "location": {
                        "x": 2185.048095703125,
                        "y": 2465.78125,
                        "z": 364.8197326660156
                    },
                    "rotation": {
                        "roll": -0.0014648223295807838,
                        "pitch": 0.5476923584938049,
                        "yaw": 90.06964874267578
                    }
                },
                "velocity": {
                    "x": -0.0084397466853261,
                    "y": 5.256845474243164,
                    "z": 0.04897945374250412
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.298917055130005,
                "transform": {
                    "location": {
                        "x": 2170.748291015625,
                        "y": 2527.32421875,
                        "z": 364.8802185058594
                    },
                    "rotation": {
                        "roll": 0.000993623398244381,
                        "pitch": 0.805019736289978,
                        "yaw": -0.11669918894767761
                    }
                },
                "velocity": {
                    "x": 2.298548936843872,
                    "y": -0.004835089202970266,
                    "z": 0.04085247963666916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.841017961502075,
                "transform": {
                    "location": {
                        "x": 2202.6533203125,
                        "y": 2524.305908203125,
                        "z": 365.5717468261719
                    },
                    "rotation": {
                        "roll": -0.0003356935048941523,
                        "pitch": -1.386412262916565,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": -3.8397722244262695,
                    "y": 0.008199851028621197,
                    "z": -0.09747491776943207
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 6.528355121612549,
                "transform": {
                    "location": {
                        "x": 2187.884033203125,
                        "y": 2556.308349609375,
                        "z": 365.14581298828125
                    },
                    "rotation": {
                        "roll": -0.0038146821316331625,
                        "pitch": 0.4181373417377472,
                        "yaw": -89.71881103515625
                    }
                },
                "velocity": {
                    "x": 0.026034431532025337,
                    "y": -6.5282816886901855,
                    "z": 0.016835059970617294
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.886173725128174,
                "transform": {
                    "location": {
                        "x": 2154.408447265625,
                        "y": 2527.3583984375,
                        "z": 364.74029541015625
                    },
                    "rotation": {
                        "roll": 0.0016045118682086468,
                        "pitch": -0.08401132375001907,
                        "yaw": -0.0752563327550888
                    }
                },
                "velocity": {
                    "x": 6.886165142059326,
                    "y": -0.00969426054507494,
                    "z": -0.005007619969546795
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021784527052659541,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 8.12336793387658e-07,
                    "y": -2.3170581698650494e-05,
                    "z": 0.00021660799393430352
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004869679396506399,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 6.726719220750965e-06,
                    "y": 4.026788519695401e-05,
                    "z": 0.000485253578517586
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.1824948489665985,
                "transform": {
                    "location": {
                        "x": 2135.973876953125,
                        "y": 2527.302490234375,
                        "z": 364.7032470703125
                    },
                    "rotation": {
                        "roll": -9.155276347883046e-05,
                        "pitch": -0.22146204113960266,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": -0.000679077347740531,
                    "y": -7.016213203314692e-05,
                    "z": -0.18249356746673584
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7359153032302856,
                "transform": {
                    "location": {
                        "x": 2185.027099609375,
                        "y": 2480.476806640625,
                        "z": 364.9541015625
                    },
                    "rotation": {
                        "roll": -0.00018311339954379946,
                        "pitch": 0.45001381635665894,
                        "yaw": 90.05269622802734
                    }
                },
                "velocity": {
                    "x": -0.0015869931085035205,
                    "y": 1.7358651161193848,
                    "z": 0.013106059283018112
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.14951395988464355,
                "transform": {
                    "location": {
                        "x": 2185.014892578125,
                        "y": 2493.513916015625,
                        "z": 365.0414123535156
                    },
                    "rotation": {
                        "roll": -0.0010986275738105178,
                        "pitch": 0.4530942440032959,
                        "yaw": 90.08509826660156
                    }
                },
                "velocity": {
                    "x": 0.0016121510416269302,
                    "y": 0.14950208365917206,
                    "z": 0.0009758758242242038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.076570987701416,
                "transform": {
                    "location": {
                        "x": 2219.448974609375,
                        "y": 2524.275634765625,
                        "z": 366.0167541503906
                    },
                    "rotation": {
                        "roll": -0.0010070798452943563,
                        "pitch": -1.7068710327148438,
                        "yaw": 179.936767578125
                    }
                },
                "velocity": {
                    "x": -7.073594093322754,
                    "y": 0.00807050708681345,
                    "z": -0.20508933067321777
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.4676151275634766,
                "transform": {
                    "location": {
                        "x": 2185.089599609375,
                        "y": 2451.15771484375,
                        "z": 364.6798095703125
                    },
                    "rotation": {
                        "roll": 0.003718634368851781,
                        "pitch": 0.6089249849319458,
                        "yaw": 90.45440673828125
                    }
                },
                "velocity": {
                    "x": -0.017913799732923508,
                    "y": 2.467402219772339,
                    "z": 0.027019614353775978
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2024240642786026,
        "expert_target_speed": 0.0,
        "target_point": [
            12.405127828420309,
            9.391577533330462
        ],
        "target_point_next": [
            11.73063229843211,
            37.38351996170416
        ]
    },
    "280": {
        "acceleration": [
            0.013017137534916401,
            0.4077116847038269,
            0.00877227634191513
        ],
        "angular_velocity": [
            0.1565716564655304,
            -0.041004132479429245,
            0.040407445281744
        ],
        "forward_vector": [
            0.026226447895169258,
            0.9996514320373535,
            0.0030285073444247246
        ],
        "right_vector": [
            -0.9996560215950012,
            0.02622627466917038,
            9.693844913272187e-05
        ],
        "location": [
            2185.231201171875,
            2511.81982421875,
            365.1217346191406
        ],
        "rotation": [
            -0.0055541894398629665,
            0.17352095246315002,
            88.49715423583984
        ],
        "velocity": [
            0.0008649429655633867,
            0.02933737263083458,
            0.0016026877565309405
        ],
        "speed": 0.029350120258937944,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.118127822875977,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.894287109375,
                2527.32373046875,
                364.8827209472656
            ],
            "velocity": [
                -0.003221242455765605,
                -2.5264987471018685e-06,
                0.0014954792568460107
            ],
            "speed_kmh": 0.012785255705062984,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.15156866610050201,
                "transform": {
                    "location": {
                        "x": 2236.9384765625,
                        "y": 2524.330322265625,
                        "z": 366.5338134765625
                    },
                    "rotation": {
                        "roll": 0.00017560215201228857,
                        "pitch": -1.7670859098434448,
                        "yaw": 179.87417602539062
                    }
                },
                "velocity": {
                    "x": -0.004632947035133839,
                    "y": 0.00023828762641642243,
                    "z": 0.15149766206741333
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1774585247039795,
                "transform": {
                    "location": {
                        "x": 2187.848388671875,
                        "y": 2568.8330078125,
                        "z": 365.09222412109375
                    },
                    "rotation": {
                        "roll": 0.003657340072095394,
                        "pitch": -0.22314226627349854,
                        "yaw": -89.58745574951172
                    }
                },
                "velocity": {
                    "x": 0.015399055555462837,
                    "y": -2.177382707595825,
                    "z": 0.009659461677074432
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0015301007078960538,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2539.906494140625,
                        "z": 365.1608581542969
                    },
                    "rotation": {
                        "roll": -0.004150396212935448,
                        "pitch": -0.09759657084941864,
                        "yaw": -91.5401840209961
                    }
                },
                "velocity": {
                    "x": -1.545284794701729e-05,
                    "y": 0.0011407322017475963,
                    "z": 0.0010196565417572856
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.90521240234375,
                "transform": {
                    "location": {
                        "x": 2185.046142578125,
                        "y": 2467.16162109375,
                        "z": 364.8323059082031
                    },
                    "rotation": {
                        "roll": 0.00011993398220511153,
                        "pitch": 0.5473166704177856,
                        "yaw": 90.06743621826172
                    }
                },
                "velocity": {
                    "x": -0.008706173859536648,
                    "y": 5.904970645904541,
                    "z": 0.052730996161699295
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0035514598712325096,
                "transform": {
                    "location": {
                        "x": 2170.894287109375,
                        "y": 2527.32373046875,
                        "z": 364.8827209472656
                    },
                    "rotation": {
                        "roll": 0.00038490057340823114,
                        "pitch": 0.688387393951416,
                        "yaw": -0.059295643121004105
                    }
                },
                "velocity": {
                    "x": -0.003221242455765605,
                    "y": -2.5264987471018685e-06,
                    "z": 0.0014954792568460107
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6744275093078613,
                "transform": {
                    "location": {
                        "x": 2201.714599609375,
                        "y": 2524.307861328125,
                        "z": 365.5486755371094
                    },
                    "rotation": {
                        "roll": -0.0012512205867096782,
                        "pitch": -1.3889803886413574,
                        "yaw": 179.8804473876953
                    }
                },
                "velocity": {
                    "x": -3.673290729522705,
                    "y": 0.007930001243948936,
                    "z": -0.09104807674884796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.005571365356445,
                "transform": {
                    "location": {
                        "x": 2187.8896484375,
                        "y": 2554.67919921875,
                        "z": 365.1525573730469
                    },
                    "rotation": {
                        "roll": 0.001568620908074081,
                        "pitch": 0.08970770239830017,
                        "yaw": -89.74687957763672
                    }
                },
                "velocity": {
                    "x": 0.015784859657287598,
                    "y": -5.005529403686523,
                    "z": 0.013060788623988628
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.486013889312744,
                "transform": {
                    "location": {
                        "x": 2156.078369140625,
                        "y": 2527.35546875,
                        "z": 364.7400207519531
                    },
                    "rotation": {
                        "roll": 0.00045281596248969436,
                        "pitch": -0.056000716984272,
                        "yaw": -0.0923767015337944
                    }
                },
                "velocity": {
                    "x": 6.485995292663574,
                    "y": -0.011229920201003551,
                    "z": 0.010801343247294426
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5981333490344696e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.4761089914827608e-06,
                    "y": -3.423053840378998e-06,
                    "z": 1.5540490494458936e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3941457271575928,
                "transform": {
                    "location": {
                        "x": 2135.9775390625,
                        "y": 2527.302490234375,
                        "z": 364.76947021484375
                    },
                    "rotation": {
                        "roll": -9.155270527116954e-05,
                        "pitch": -0.21224811673164368,
                        "yaw": -0.1252136081457138
                    }
                },
                "velocity": {
                    "x": 0.07548994570970535,
                    "y": 1.956855157914106e-06,
                    "z": 0.38684898614883423
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.192394733428955,
                "transform": {
                    "location": {
                        "x": 2185.027099609375,
                        "y": 2480.947265625,
                        "z": 364.9581604003906
                    },
                    "rotation": {
                        "roll": 0.00015965949569363147,
                        "pitch": 0.3973735570907593,
                        "yaw": 90.05323028564453
                    }
                },
                "velocity": {
                    "x": -0.002015846548601985,
                    "y": 2.1923439502716064,
                    "z": 0.014783153310418129
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0947813987731934,
                "transform": {
                    "location": {
                        "x": 2185.014892578125,
                        "y": 2493.66748046875,
                        "z": 365.04327392578125
                    },
                    "rotation": {
                        "roll": -0.001007083454169333,
                        "pitch": 0.33786895871162415,
                        "yaw": 90.09278106689453
                    }
                },
                "velocity": {
                    "x": -0.0015180478803813457,
                    "y": 1.0947608947753906,
                    "z": 0.0065333363600075245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.6743693351745605,
                "transform": {
                    "location": {
                        "x": 2217.728759765625,
                        "y": 2524.27734375,
                        "z": 365.9665832519531
                    },
                    "rotation": {
                        "roll": -0.0018005367601290345,
                        "pitch": -1.6587523221969604,
                        "yaw": 179.92567443847656
                    }
                },
                "velocity": {
                    "x": -6.671658992767334,
                    "y": 0.009914427995681763,
                    "z": -0.18993517756462097
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.385484457015991,
                "transform": {
                    "location": {
                        "x": 2185.085693359375,
                        "y": 2451.887451171875,
                        "z": 364.6883850097656
                    },
                    "rotation": {
                        "roll": 0.0015807036543264985,
                        "pitch": 0.5590782761573792,
                        "yaw": 90.3946533203125
                    }
                },
                "velocity": {
                    "x": -0.0133736627176404,
                    "y": 3.385240077972412,
                    "z": 0.03840918466448784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.20365764200687408,
        "expert_target_speed": 0.0,
        "target_point": [
            12.402264078138138,
            9.390757344389623
        ],
        "target_point_next": [
            11.729416977706144,
            37.3827394448555
        ]
    },
    "285": {
        "acceleration": [
            0.023512989282608032,
            2.1388721466064453,
            -0.0067077623680233955
        ],
        "angular_velocity": [
            0.700359046459198,
            0.004968150053173304,
            -0.011146814562380314
        ],
        "forward_vector": [
            0.026691634207963943,
            0.9996241331100464,
            0.006254870444536209
        ],
        "right_vector": [
            -0.9996436834335327,
            0.026691632345318794,
            8.362159132957458e-05
        ],
        "location": [
            2185.233642578125,
            2511.911376953125,
            365.1214294433594
        ],
        "rotation": [
            -0.004791257902979851,
            0.3583800196647644,
            88.47047424316406
        ],
        "velocity": [
            0.01881677284836769,
            0.7240422368049622,
            0.0019349574577063322
        ],
        "speed": 0.7242867053991533,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 21.051496505737305,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.89599609375,
                2527.32373046875,
                364.88311767578125
            ],
            "velocity": [
                -0.0010325191542506218,
                -5.673883424606174e-05,
                0.0013494256418198347
            ],
            "speed_kmh": 0.0061202802239447626,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3833063840866089,
                "transform": {
                    "location": {
                        "x": 2236.788818359375,
                        "y": 2524.328369140625,
                        "z": 366.5519714355469
                    },
                    "rotation": {
                        "roll": -0.009948726743459702,
                        "pitch": -1.5962151288986206,
                        "yaw": 179.98867797851562
                    }
                },
                "velocity": {
                    "x": -1.3832169771194458,
                    "y": -0.0156893078237772,
                    "z": -0.0011396026238799095
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7128138542175293,
                "transform": {
                    "location": {
                        "x": 2187.84912109375,
                        "y": 2568.711669921875,
                        "z": 365.0931091308594
                    },
                    "rotation": {
                        "roll": 0.0031346201431006193,
                        "pitch": -0.0258181132376194,
                        "yaw": -89.6001205444336
                    }
                },
                "velocity": {
                    "x": 0.004239153116941452,
                    "y": -0.7127934098243713,
                    "z": 0.0033454704098403454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2539.90625,
                        "z": 365.16070556640625
                    },
                    "rotation": {
                        "roll": -0.0013732920633628964,
                        "pitch": -0.05181381106376648,
                        "yaw": -91.5401840209961
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 5.610418796539307,
                "transform": {
                    "location": {
                        "x": 2185.0439453125,
                        "y": 2468.685791015625,
                        "z": 364.8463439941406
                    },
                    "rotation": {
                        "roll": -0.0008545034797862172,
                        "pitch": 0.5272291302680969,
                        "yaw": 90.03515625
                    }
                },
                "velocity": {
                    "x": -0.00754382461309433,
                    "y": 5.610188961029053,
                    "z": 0.050210922956466675
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017000777879729867,
                "transform": {
                    "location": {
                        "x": 2170.89599609375,
                        "y": 2527.32373046875,
                        "z": 364.88311767578125
                    },
                    "rotation": {
                        "roll": 0.001698771957308054,
                        "pitch": 0.918482780456543,
                        "yaw": -0.0592651329934597
                    }
                },
                "velocity": {
                    "x": -0.0010325191542506218,
                    "y": -5.673883424606174e-05,
                    "z": 0.0013494256418198347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7117085456848145,
                "transform": {
                    "location": {
                        "x": 2200.899169921875,
                        "y": 2524.309814453125,
                        "z": 365.5280456542969
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -1.3290318250656128,
                        "yaw": 179.87147521972656
                    }
                },
                "velocity": {
                    "x": -2.7108852863311768,
                    "y": 0.005823626182973385,
                    "z": -0.0665656104683876
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.5744752883911133,
                "transform": {
                    "location": {
                        "x": 2187.89208984375,
                        "y": 2553.875,
                        "z": 365.1593322753906
                    },
                    "rotation": {
                        "roll": 0.0005393942119553685,
                        "pitch": -0.5257196426391602,
                        "yaw": -89.79137420654297
                    }
                },
                "velocity": {
                    "x": 0.008938523009419441,
                    "y": -3.574456214904785,
                    "z": 0.007524929009377956
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.234856605529785,
                "transform": {
                    "location": {
                        "x": 2157.666259765625,
                        "y": 2527.3525390625,
                        "z": 364.74346923828125
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": 0.15991520881652832,
                        "yaw": -0.0991821363568306
                    }
                },
                "velocity": {
                    "x": 6.234834671020508,
                    "y": -0.010737283155322075,
                    "z": 0.012505616992712021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.875792365055531e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.6078576663858257e-05,
                    "y": 2.190990562667139e-05,
                    "z": -4.048172922921367e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005117563996464014,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.20068159251241e-05,
                    "y": 1.7255173588637263e-05,
                    "z": 0.0005109917256049812
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6639788150787354,
                "transform": {
                    "location": {
                        "x": 2136.07958984375,
                        "y": 2527.303466796875,
                        "z": 364.8229064941406
                    },
                    "rotation": {
                        "roll": -0.003997801803052425,
                        "pitch": -0.08810260891914368,
                        "yaw": -0.1109008714556694
                    }
                },
                "velocity": {
                    "x": 0.6619121432304382,
                    "y": 0.006801854819059372,
                    "z": 0.05190318822860718
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0922577381134033,
                "transform": {
                    "location": {
                        "x": 2185.027099609375,
                        "y": 2481.609375,
                        "z": 364.96343994140625
                    },
                    "rotation": {
                        "roll": -0.0006409015040844679,
                        "pitch": 0.3355330228805542,
                        "yaw": 90.05399322509766
                    }
                },
                "velocity": {
                    "x": -0.0028733036015182734,
                    "y": 3.0921740531921387,
                    "z": 0.022563647478818893
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2684621810913086,
                "transform": {
                    "location": {
                        "x": 2185.014892578125,
                        "y": 2493.98388671875,
                        "z": 365.044921875
                    },
                    "rotation": {
                        "roll": -0.0004577788640744984,
                        "pitch": 0.3688848316669464,
                        "yaw": 90.0986557006836
                    }
                },
                "velocity": {
                    "x": -0.0003337860689498484,
                    "y": 0.2684538960456848,
                    "z": 0.0020841502118855715
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.386175632476807,
                "transform": {
                    "location": {
                        "x": 2216.100830078125,
                        "y": 2524.27978515625,
                        "z": 365.92022705078125
                    },
                    "rotation": {
                        "roll": -0.00250244140625,
                        "pitch": -1.6657942533493042,
                        "yaw": 179.92140197753906
                    }
                },
                "velocity": {
                    "x": -6.383572101593018,
                    "y": 0.010165420360863209,
                    "z": -0.18205773830413818
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.504331111907959,
                "transform": {
                    "location": {
                        "x": 2185.081298828125,
                        "y": 2452.8798828125,
                        "z": 364.6995544433594
                    },
                    "rotation": {
                        "roll": 0.0004457152681425214,
                        "pitch": 0.5259723663330078,
                        "yaw": 90.32984161376953
                    }
                },
                "velocity": {
                    "x": -0.017634378746151924,
                    "y": 4.504040718078613,
                    "z": 0.04801458120346069
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.20722179114818573,
        "expert_target_speed": 0.0,
        "target_point": [
            12.306320503038469,
            9.396507461989856
        ],
        "target_point_next": [
            11.620486243958437,
            37.388174373812625
        ]
    },
    "290": {
        "acceleration": [
            0.06473273038864136,
            2.3526644706726074,
            0.011249925009906292
        ],
        "angular_velocity": [
            0.18388599157333374,
            0.012410835362970829,
            0.15761834383010864
        ],
        "forward_vector": [
            0.02714589424431324,
            0.9995946288108826,
            0.008580101653933525
        ],
        "right_vector": [
            -0.9996314644813538,
            0.027146410197019577,
            5.6457702157786116e-05
        ],
        "location": [
            2185.2412109375,
            2512.199951171875,
            365.1218566894531
        ],
        "rotation": [
            -0.0032349072862416506,
            0.491609662771225,
            88.44440460205078
        ],
        "velocity": [
            0.04099564626812935,
            1.5355427265167236,
            0.0038081835955381393
        ],
        "speed": 1.5360898762674517,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.846027374267578,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.88323974609375
            ],
            "velocity": [
                -0.00011125981836812571,
                2.851936915249098e-05,
                0.0008447084110230207
            ],
            "speed_kmh": 0.003068932752642437,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.603703737258911,
                "transform": {
                    "location": {
                        "x": 2236.286376953125,
                        "y": 2524.3251953125,
                        "z": 366.5412292480469
                    },
                    "rotation": {
                        "roll": -0.004791260231286287,
                        "pitch": -1.570062279701233,
                        "yaw": -179.95460510253906
                    }
                },
                "velocity": {
                    "x": -2.602644681930542,
                    "y": -0.012390217743813992,
                    "z": -0.07321031391620636
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.865001916885376,
                "transform": {
                    "location": {
                        "x": 2187.850830078125,
                        "y": 2568.38232421875,
                        "z": 365.09527587890625
                    },
                    "rotation": {
                        "roll": 0.0023083568084985018,
                        "pitch": 0.36369389295578003,
                        "yaw": -89.63282012939453
                    }
                },
                "velocity": {
                    "x": 0.01077748741954565,
                    "y": -1.8649518489837646,
                    "z": 0.00839905720204115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0009601407800801098,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2539.90576171875,
                        "z": 365.1606140136719
                    },
                    "rotation": {
                        "roll": -0.0005493166972883046,
                        "pitch": -0.03348158672451973,
                        "yaw": -91.54015350341797
                    }
                },
                "velocity": {
                    "x": 4.0059079765342176e-05,
                    "y": 0.00017898018995765597,
                    "z": 0.0009424604359082878
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.6411450505256653,
                "transform": {
                    "location": {
                        "x": 2185.04296875,
                        "y": 2469.45166015625,
                        "z": 364.8541564941406
                    },
                    "rotation": {
                        "roll": 0.0009797799866646528,
                        "pitch": 0.37784603238105774,
                        "yaw": 90.00228881835938
                    }
                },
                "velocity": {
                    "x": -0.0013087628176435828,
                    "y": 0.641122579574585,
                    "z": 0.005208473186939955
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008524813456460834,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.88323974609375
                    },
                    "rotation": {
                        "roll": 0.0025153812021017075,
                        "pitch": 0.9685002565383911,
                        "yaw": -0.059234619140625
                    }
                },
                "velocity": {
                    "x": -0.00011125981836812571,
                    "y": 2.851936915249098e-05,
                    "z": 0.0008447084110230207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.4004386365413666,
                "transform": {
                    "location": {
                        "x": 2200.4072265625,
                        "y": 2524.310302734375,
                        "z": 365.51513671875
                    },
                    "rotation": {
                        "roll": 0.0022455770522356033,
                        "pitch": -1.2303696870803833,
                        "yaw": 179.800048828125
                    }
                },
                "velocity": {
                    "x": -0.40030696988105774,
                    "y": 0.0017908246954903007,
                    "z": -0.010111226700246334
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.963212013244629,
                "transform": {
                    "location": {
                        "x": 2187.894287109375,
                        "y": 2552.78759765625,
                        "z": 365.154052734375
                    },
                    "rotation": {
                        "roll": 0.001571550965309143,
                        "pitch": 0.44401007890701294,
                        "yaw": -89.82559204101562
                    }
                },
                "velocity": {
                    "x": 0.011656981892883778,
                    "y": -4.9631876945495605,
                    "z": 0.01023132260888815
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9019603729248047,
                "transform": {
                    "location": {
                        "x": 2158.986083984375,
                        "y": 2527.35009765625,
                        "z": 364.7468566894531
                    },
                    "rotation": {
                        "roll": -0.00067138671875,
                        "pitch": -0.10390765964984894,
                        "yaw": 0.16403841972351074
                    }
                },
                "velocity": {
                    "x": 2.9019105434417725,
                    "y": -0.00894474983215332,
                    "z": 0.01445425022393465
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00028352392837405205,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 5.352720563678304e-06,
                    "y": 1.6289630366372876e-05,
                    "z": -0.00028300497797317803
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003887195198331028,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.0763481441244949e-05,
                    "y": -6.359314738801913e-06,
                    "z": 0.00038851844146847725
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4277641773223877,
                "transform": {
                    "location": {
                        "x": 2136.335693359375,
                        "y": 2527.3056640625,
                        "z": 364.8137512207031
                    },
                    "rotation": {
                        "roll": -0.006896972190588713,
                        "pitch": -0.05184796452522278,
                        "yaw": -0.0469970665872097
                    }
                },
                "velocity": {
                    "x": 1.426069736480713,
                    "y": 0.015454830601811409,
                    "z": -0.06779976934194565
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.178777694702148,
                "transform": {
                    "location": {
                        "x": 2185.02685546875,
                        "y": 2482.51953125,
                        "z": 364.9704284667969
                    },
                    "rotation": {
                        "roll": 7.90018166298978e-05,
                        "pitch": 0.2995447516441345,
                        "yaw": 90.05388641357422
                    }
                },
                "velocity": {
                    "x": -0.003941988106817007,
                    "y": 4.1786723136901855,
                    "z": 0.0294475257396698
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8916254043579102,
                "transform": {
                    "location": {
                        "x": 2185.01513671875,
                        "y": 2494.09716796875,
                        "z": 365.04583740234375
                    },
                    "rotation": {
                        "roll": -0.001312246429733932,
                        "pitch": 0.3405122458934784,
                        "yaw": 90.12793731689453
                    }
                },
                "velocity": {
                    "x": -0.0009303218103013933,
                    "y": 0.8916065692901611,
                    "z": 0.005721511784940958
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.0704803466796875,
                "transform": {
                    "location": {
                        "x": 2214.546630859375,
                        "y": 2524.28271484375,
                        "z": 365.8758239746094
                    },
                    "rotation": {
                        "roll": -0.0006103515042923391,
                        "pitch": -1.662140130996704,
                        "yaw": 179.90296936035156
                    }
                },
                "velocity": {
                    "x": -6.0679850578308105,
                    "y": 0.010499275289475918,
                    "z": -0.1737220734357834
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.195645809173584,
                "transform": {
                    "location": {
                        "x": 2185.07568359375,
                        "y": 2454.130859375,
                        "z": 364.7132873535156
                    },
                    "rotation": {
                        "roll": 0.002417591167613864,
                        "pitch": 0.5329732894897461,
                        "yaw": 90.28053283691406
                    }
                },
                "velocity": {
                    "x": -0.020839078351855278,
                    "y": 5.195291519165039,
                    "z": 0.056969575583934784
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2168358415365219,
        "expert_target_speed": 0.0,
        "target_point": [
            12.01336020177876,
            9.401851124700118
        ],
        "target_point_next": [
            11.314759162382511,
            37.393202319687404
        ]
    },
    "295": {
        "acceleration": [
            0.10348528623580933,
            3.914337158203125,
            0.014501381665468216
        ],
        "angular_velocity": [
            0.2731618881225586,
            -0.030898189172148705,
            0.04701698198914528
        ],
        "forward_vector": [
            0.02691749669611454,
            0.999593198299408,
            0.009425141848623753
        ],
        "right_vector": [
            -0.9996376037597656,
            0.02691778913140297,
            9.586987289367244e-05
        ],
        "location": [
            2185.25439453125,
            2512.69677734375,
            365.12322998046875
        ],
        "rotation": [
            -0.00549318315461278,
            0.5400288701057434,
            88.45748901367188
        ],
        "velocity": [
            0.06358426809310913,
            2.4051620960235596,
            0.0070347595028579235
        ],
        "speed": 2.4060024246241687,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 20.4976806640625,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -0.0001310439402004704,
                7.1188187575899065e-06,
                0.0014402526430785656
            ],
            "speed_kmh": 0.005206390231810498,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.180045127868652,
                "transform": {
                    "location": {
                        "x": 2235.430908203125,
                        "y": 2524.320556640625,
                        "z": 366.5158386230469
                    },
                    "rotation": {
                        "roll": -0.01235961727797985,
                        "pitch": -1.5267589092254639,
                        "yaw": -179.81198120117188
                    }
                },
                "velocity": {
                    "x": -4.178015232086182,
                    "y": -0.024829799309372902,
                    "z": -0.12786278128623962
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8488497734069824,
                "transform": {
                    "location": {
                        "x": 2187.854736328125,
                        "y": 2567.798583984375,
                        "z": 365.0982971191406
                    },
                    "rotation": {
                        "roll": 0.0011113521177321672,
                        "pitch": 0.4377126395702362,
                        "yaw": -89.69284057617188
                    }
                },
                "velocity": {
                    "x": 0.016390131786465645,
                    "y": -2.848771095275879,
                    "z": 0.013380708172917366
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.00028475275030359626,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2539.90576171875,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.00039672880666330457,
                        "pitch": -0.027436869218945503,
                        "yaw": -91.54015350341797
                    }
                },
                "velocity": {
                    "x": -5.7985314924735576e-05,
                    "y": 1.0879619367187843e-05,
                    "z": 0.00027857397799380124
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9028709530830383,
                "transform": {
                    "location": {
                        "x": 2185.043212890625,
                        "y": 2469.569091796875,
                        "z": 364.8543701171875
                    },
                    "rotation": {
                        "roll": 0.0002903997665271163,
                        "pitch": 0.47624173760414124,
                        "yaw": 90.03533172607422
                    }
                },
                "velocity": {
                    "x": -0.0014203872997313738,
                    "y": 0.9028455018997192,
                    "z": 0.006628341507166624
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014462195103988051,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -0.0001310439402004704,
                    "y": 7.1188187575899065e-06,
                    "z": 0.0014402526430785656
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008813225431367755,
                "transform": {
                    "location": {
                        "x": 2200.40625,
                        "y": 2524.310302734375,
                        "z": 365.5157775878906
                    },
                    "rotation": {
                        "roll": 0.001690367003902793,
                        "pitch": -1.3121612071990967,
                        "yaw": 179.7959747314453
                    }
                },
                "velocity": {
                    "x": 0.0008479597745463252,
                    "y": 0.0001231467758771032,
                    "z": -0.00020622432930395007
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01832755096256733,
                "transform": {
                    "location": {
                        "x": 2187.896484375,
                        "y": 2552.0849609375,
                        "z": 365.1635437011719
                    },
                    "rotation": {
                        "roll": -0.0005492970230989158,
                        "pitch": -0.5691527724266052,
                        "yaw": -89.84313201904297
                    }
                },
                "velocity": {
                    "x": 8.749726839596406e-05,
                    "y": -0.018288172781467438,
                    "z": -0.0011975921224802732
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.761172354221344,
                "transform": {
                    "location": {
                        "x": 2159.171875,
                        "y": 2527.349609375,
                        "z": 364.7484436035156
                    },
                    "rotation": {
                        "roll": -0.002716064453125,
                        "pitch": -0.06716807931661606,
                        "yaw": 0.1908586621284485
                    }
                },
                "velocity": {
                    "x": 0.761146068572998,
                    "y": -3.814393494394608e-05,
                    "z": 0.0063269613310694695
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003872673260048032,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.7785279851523228e-05,
                    "y": -1.3931551620771643e-05,
                    "z": -0.0003866077749989927
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007769636576995254,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 8.901432011043653e-06,
                    "y": -8.320132110384293e-06,
                    "z": 0.0007768680807203054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.647618055343628,
                "transform": {
                    "location": {
                        "x": 2136.838134765625,
                        "y": 2527.310302734375,
                        "z": 364.80126953125
                    },
                    "rotation": {
                        "roll": -0.009185791015625,
                        "pitch": 0.03838565945625305,
                        "yaw": 0.09258197247982025
                    }
                },
                "velocity": {
                    "x": 2.6473379135131836,
                    "y": 0.03059939481317997,
                    "z": -0.023382382467389107
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.099686622619629,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2483.62255859375,
                        "z": 364.9775390625
                    },
                    "rotation": {
                        "roll": -0.0004883163492195308,
                        "pitch": 0.38827574253082275,
                        "yaw": 90.05389404296875
                    }
                },
                "velocity": {
                    "x": -0.0038765030913054943,
                    "y": 4.099576473236084,
                    "z": 0.02977912873029709
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7044928073883057,
                "transform": {
                    "location": {
                        "x": 2185.014892578125,
                        "y": 2494.432373046875,
                        "z": 365.0484619140625
                    },
                    "rotation": {
                        "roll": -0.0010681230342015624,
                        "pitch": 0.2730572819709778,
                        "yaw": 90.10875701904297
                    }
                },
                "velocity": {
                    "x": -0.0023307460360229015,
                    "y": 1.704459309577942,
                    "z": 0.010418329387903214
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.797116279602051,
                "transform": {
                    "location": {
                        "x": 2213.057861328125,
                        "y": 2524.285400390625,
                        "z": 365.8332824707031
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": -1.6575570106506348,
                        "yaw": 179.89700317382812
                    }
                },
                "velocity": {
                    "x": -5.79494047164917,
                    "y": 0.008876387029886246,
                    "z": -0.15855672955513
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.847007751464844,
                "transform": {
                    "location": {
                        "x": 2185.0693359375,
                        "y": 2455.502685546875,
                        "z": 364.72796630859375
                    },
                    "rotation": {
                        "roll": 0.0026320081669837236,
                        "pitch": 0.5416476130485535,
                        "yaw": 90.22130584716797
                    }
                },
                "velocity": {
                    "x": -0.023060845211148262,
                    "y": 5.84664249420166,
                    "z": 0.06116699054837227
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.23026718199253082,
        "expert_target_speed": 0.0,
        "target_point": [
            11.51849285256536,
            9.398928609778482
        ],
        "target_point_next": [
            10.826245153696073,
            37.39043764835609
        ]
    },
    "300": {
        "acceleration": [
            0.0731813907623291,
            2.922792434692383,
            -0.007603075355291367
        ],
        "angular_velocity": [
            -0.12305887043476105,
            0.03406115621328354,
            0.06528699398040771
        ],
        "forward_vector": [
            0.026668738573789597,
            0.9995838403701782,
            0.010994808748364449
        ],
        "right_vector": [
            -0.9996442794799805,
            0.02666947804391384,
            7.935706526041031e-05
        ],
        "location": [
            2185.274169921875,
            2513.447021484375,
            365.1253356933594
        ],
        "rotation": [
            -0.004547099582850933,
            0.6299688220024109,
            88.47171783447266
        ],
        "velocity": [
            0.09103210270404816,
            3.474130153656006,
            0.009961661882698536
        ],
        "speed": 3.475322599164662,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.98348045349121,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -8.68444112711586e-05,
                7.200050458777696e-05,
                0.0008775276364758611
            ],
            "speed_kmh": 0.0031850963678712397,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.450191020965576,
                "transform": {
                    "location": {
                        "x": 2234.204345703125,
                        "y": 2524.3125,
                        "z": 366.4787292480469
                    },
                    "rotation": {
                        "roll": -0.0164794921875,
                        "pitch": -1.54733145236969,
                        "yaw": -179.68600463867188
                    }
                },
                "velocity": {
                    "x": -5.447504997253418,
                    "y": -0.037382304668426514,
                    "z": -0.1669534295797348
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.303401470184326,
                "transform": {
                    "location": {
                        "x": 2187.859619140625,
                        "y": 2566.901611328125,
                        "z": 365.10272216796875
                    },
                    "rotation": {
                        "roll": 0.0007848868262954056,
                        "pitch": 0.4905100166797638,
                        "yaw": -89.6828842163086
                    }
                },
                "velocity": {
                    "x": 0.02373206615447998,
                    "y": -4.3032965660095215,
                    "z": 0.01846860907971859
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0008004740229807794,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2539.90576171875,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.0004272453661542386,
                        "pitch": -0.024479396641254425,
                        "yaw": -91.54015350341797
                    }
                },
                "velocity": {
                    "x": 7.458576874341816e-05,
                    "y": 1.5957613868522458e-05,
                    "z": 0.0007968318532221019
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4591290950775146,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2469.8662109375,
                        "z": 364.85650634765625
                    },
                    "rotation": {
                        "roll": 0.00058245804393664,
                        "pitch": 0.5242101550102234,
                        "yaw": 89.98765563964844
                    }
                },
                "velocity": {
                    "x": -0.001046988065354526,
                    "y": 1.4590754508972168,
                    "z": 0.012467737309634686
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008847489953041077,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -8.68444112711586e-05,
                    "y": 7.200050458777696e-05,
                    "z": 0.0008775276364758611
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00031935147126205266,
                "transform": {
                    "location": {
                        "x": 2200.406494140625,
                        "y": 2524.310302734375,
                        "z": 365.5164489746094
                    },
                    "rotation": {
                        "roll": 0.0026320565957576036,
                        "pitch": -1.3922041654586792,
                        "yaw": 179.7959442138672
                    }
                },
                "velocity": {
                    "x": 3.3252239518333226e-05,
                    "y": 7.767220085952431e-05,
                    "z": 0.0003079718735534698
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.07615596055984497,
                "transform": {
                    "location": {
                        "x": 2187.896484375,
                        "y": 2552.076171875,
                        "z": 365.1617126464844
                    },
                    "rotation": {
                        "roll": -0.0005187978968024254,
                        "pitch": -0.36245763301849365,
                        "yaw": -89.84436798095703
                    }
                },
                "velocity": {
                    "x": 8.097905811155215e-05,
                    "y": -0.07614746689796448,
                    "z": -0.0011347293620929122
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8240008354187012,
                "transform": {
                    "location": {
                        "x": 2159.5166015625,
                        "y": 2527.349609375,
                        "z": 364.75091552734375
                    },
                    "rotation": {
                        "roll": 0.0014813493471592665,
                        "pitch": 0.34401610493659973,
                        "yaw": 0.17036260664463043
                    }
                },
                "velocity": {
                    "x": 1.8239787817001343,
                    "y": -0.0003082122711930424,
                    "z": 0.008969010785222054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011502204142743722,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 4.158839601586806e-06,
                    "y": -1.982563844649121e-06,
                    "z": -0.00011492973135318607
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00017929404566530138,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.0954923709505238e-05,
                    "y": -2.947554378351924e-07,
                    "z": 0.00017895882774610072
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.664633750915527,
                "transform": {
                    "location": {
                        "x": 2137.751220703125,
                        "y": 2527.3193359375,
                        "z": 364.79705810546875
                    },
                    "rotation": {
                        "roll": -0.014007568359375,
                        "pitch": 0.2229100465774536,
                        "yaw": 0.32578322291374207
                    }
                },
                "velocity": {
                    "x": 4.664270401000977,
                    "y": 0.05763800069689751,
                    "z": -0.008111114613711834
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.735201120376587,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2484.46533203125,
                        "z": 364.98248291015625
                    },
                    "rotation": {
                        "roll": 5.603121098829433e-05,
                        "pitch": 0.5216624736785889,
                        "yaw": 90.0505599975586
                    }
                },
                "velocity": {
                    "x": -0.002604665467515588,
                    "y": 2.7351338863372803,
                    "z": 0.01898363046348095
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3899383544921875,
                "transform": {
                    "location": {
                        "x": 2185.0146484375,
                        "y": 2494.9677734375,
                        "z": 365.0517883300781
                    },
                    "rotation": {
                        "roll": 0.0009456051047891378,
                        "pitch": 0.27493560314178467,
                        "yaw": 90.09786224365234
                    }
                },
                "velocity": {
                    "x": -0.004322325810790062,
                    "y": 2.3898940086364746,
                    "z": 0.01392333023250103
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.11543598026037216,
                "transform": {
                    "location": {
                        "x": 2212.284912109375,
                        "y": 2524.28662109375,
                        "z": 365.8140563964844
                    },
                    "rotation": {
                        "roll": 0.0011571545619517565,
                        "pitch": -1.8922696113586426,
                        "yaw": 179.90525817871094
                    }
                },
                "velocity": {
                    "x": -0.11525077372789383,
                    "y": 0.0001641659764572978,
                    "z": -0.006534366402775049
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.904271602630615,
                "transform": {
                    "location": {
                        "x": 2185.063720703125,
                        "y": 2457.052490234375,
                        "z": 364.74462890625
                    },
                    "rotation": {
                        "roll": -0.0009155182633548975,
                        "pitch": 0.4851961135864258,
                        "yaw": 90.19811248779297
                    }
                },
                "velocity": {
                    "x": -0.01587408222258091,
                    "y": 6.90386962890625,
                    "z": 0.07280921936035156
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18965449929237366,
        "expert_target_speed": 0.0,
        "target_point": [
            10.770351932617613,
            9.395791773979859
        ],
        "target_point_next": [
            10.085145004654233,
            37.38747404924215
        ]
    },
    "305": {
        "acceleration": [
            -0.39956212043762207,
            -2.7303409576416016,
            0.008250810205936432
        ],
        "angular_velocity": [
            -1.6613926887512207,
            0.2699742019176483,
            2.1691391468048096
        ],
        "forward_vector": [
            0.021922048181295395,
            0.9997463822364807,
            0.00515863997861743
        ],
        "right_vector": [
            -0.9997591972351074,
            0.021916816011071205,
            0.001068445504643023
        ],
        "location": [
            2185.289306640625,
            2514.283447265625,
            365.1290588378906
        ],
        "rotation": [
            -0.061218246817588806,
            0.29556959867477417,
            88.74384307861328
        ],
        "velocity": [
            0.01509597897529602,
            3.0940892696380615,
            0.00991461705416441
        ],
        "speed": 3.094126095858185,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 19.42325210571289,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -6.461769226007164e-05,
                1.7410078726243228e-05,
                0.0009100850438699126
            ],
            "speed_kmh": 0.0032851520724536997,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2185.16748046875,
                        "y": 2443.19091796875,
                        "z": 364.96990966796875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6687096357345581,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.841383934020996,
                "transform": {
                    "location": {
                        "x": 2232.77783203125,
                        "y": 2524.30224609375,
                        "z": 366.4347839355469
                    },
                    "rotation": {
                        "roll": -0.017181390896439552,
                        "pitch": -1.6658283472061157,
                        "yaw": -179.62002563476562
                    }
                },
                "velocity": {
                    "x": -5.838486671447754,
                    "y": -0.04294658452272415,
                    "z": -0.17887666821479797
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.451528549194336,
                "transform": {
                    "location": {
                        "x": 2187.8662109375,
                        "y": 2565.655517578125,
                        "z": 365.10870361328125
                    },
                    "rotation": {
                        "roll": 0.0038014620076864958,
                        "pitch": 0.44602498412132263,
                        "yaw": -89.69429779052734
                    }
                },
                "velocity": {
                    "x": 0.02528354525566101,
                    "y": -5.451411247253418,
                    "z": 0.025297394022345543
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0006233928143046796,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2539.90576171875,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.0004272453661542386,
                        "pitch": -0.024479396641254425,
                        "yaw": -91.54015350341797
                    }
                },
                "velocity": {
                    "x": 2.0401892470545135e-05,
                    "y": 3.548011227394454e-05,
                    "z": 0.0006220478680916131
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.926795244216919,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.2861328125,
                        "z": 364.8602600097656
                    },
                    "rotation": {
                        "roll": 0.0008962589199654758,
                        "pitch": 0.5189850926399231,
                        "yaw": 89.9797134399414
                    }
                },
                "velocity": {
                    "x": -0.0029129942413419485,
                    "y": 1.9267330169677734,
                    "z": 0.015205021016299725
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009125422220677137,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -6.461769226007164e-05,
                    "y": 1.7410078726243228e-05,
                    "z": 0.0009100850438699126
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006933354889042675,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.002224968047812581,
                        "pitch": -1.404232144355774,
                        "yaw": 179.79588317871094
                    }
                },
                "velocity": {
                    "x": -5.9101133956573904e-05,
                    "y": -2.595209844002966e-05,
                    "z": 0.000690324290189892
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8140841126441956,
                "transform": {
                    "location": {
                        "x": 2187.896484375,
                        "y": 2551.93359375,
                        "z": 365.15625
                    },
                    "rotation": {
                        "roll": 0.0006773876957595348,
                        "pitch": 0.3370766341686249,
                        "yaw": -89.84184265136719
                    }
                },
                "velocity": {
                    "x": 0.001961616100743413,
                    "y": -0.8140797019004822,
                    "z": 0.0018297957722097635
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.310166597366333,
                "transform": {
                    "location": {
                        "x": 2160.070556640625,
                        "y": 2527.349365234375,
                        "z": 364.7538146972656
                    },
                    "rotation": {
                        "roll": 0.0019221437396481633,
                        "pitch": 0.3702850341796875,
                        "yaw": 0.09489799290895462
                    }
                },
                "velocity": {
                    "x": 2.3101401329040527,
                    "y": -0.0019159169169142842,
                    "z": 0.010905589908361435
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003238915523979813,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 2.052910531347152e-05,
                    "y": -6.1405075939546805e-06,
                    "z": -0.00032318197190761566
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020799413323402405,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 8.6221843957901e-06,
                    "y": -1.1913318303413689e-05,
                    "z": -0.00020747359667439014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.81439208984375,
                "transform": {
                    "location": {
                        "x": 2139.06787109375,
                        "y": 2527.328125,
                        "z": 364.7951354980469
                    },
                    "rotation": {
                        "roll": 0.010866871103644371,
                        "pitch": 0.08095822483301163,
                        "yaw": 0.35155728459358215
                    }
                },
                "velocity": {
                    "x": 5.8142595291137695,
                    "y": 0.03440215066075325,
                    "z": -0.01894749514758587
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6496400237083435,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2484.97021484375,
                        "z": 364.9856262207031
                    },
                    "rotation": {
                        "roll": 0.0012526012724265456,
                        "pitch": 0.5704368948936462,
                        "yaw": 90.12128448486328
                    }
                },
                "velocity": {
                    "x": -0.004866525065153837,
                    "y": 0.6496068239212036,
                    "z": 0.004411716479808092
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5486249923706055,
                "transform": {
                    "location": {
                        "x": 2185.01318359375,
                        "y": 2495.56689453125,
                        "z": 365.05511474609375
                    },
                    "rotation": {
                        "roll": -6.104578642407432e-05,
                        "pitch": 0.3224668800830841,
                        "yaw": 90.09722137451172
                    }
                },
                "velocity": {
                    "x": -0.004291992634534836,
                    "y": 2.548583507537842,
                    "z": 0.013879727572202682
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.3393019437789917,
                "transform": {
                    "location": {
                        "x": 2212.11572265625,
                        "y": 2524.287353515625,
                        "z": 365.80767822265625
                    },
                    "rotation": {
                        "roll": 0.0006719570374116302,
                        "pitch": -1.6220059394836426,
                        "yaw": 179.958984375
                    }
                },
                "velocity": {
                    "x": -1.3388572931289673,
                    "y": 0.0036825528368353844,
                    "z": -0.03430775925517082
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.059520721435547,
                "transform": {
                    "location": {
                        "x": 2185.0595703125,
                        "y": 2458.697021484375,
                        "z": 364.7605285644531
                    },
                    "rotation": {
                        "roll": 0.0016086592804640532,
                        "pitch": 0.6277216672897339,
                        "yaw": 90.1587142944336
                    }
                },
                "velocity": {
                    "x": -0.014832054264843464,
                    "y": 6.059195041656494,
                    "z": 0.06100413203239441
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.1583932787179947,
        "expert_target_speed": 1.7932509869076356,
        "target_point": [
            9.978277062081727,
            9.341354204898275
        ],
        "target_point_next": [
            9.42595813543269,
            37.33597384754795
        ]
    },
    "310": {
        "acceleration": [
            -0.7631728053092957,
            -2.5258636474609375,
            -0.009792326018214226
        ],
        "angular_velocity": [
            -0.6702216267585754,
            0.36068475246429443,
            6.385280609130859
        ],
        "forward_vector": [
            0.0023905769921839237,
            0.9999971389770508,
            9.858607518253848e-05
        ],
        "right_vector": [
            -0.9999927282333374,
            0.002390274778008461,
            0.0029603654984384775
        ],
        "location": [
            2185.27392578125,
            2514.9658203125,
            365.1319580078125
        ],
        "rotation": [
            -0.16961669921875,
            0.005648565944284201,
            89.86302947998047
        ],
        "velocity": [
            -0.15738357603549957,
            2.4211888313293457,
            0.006127366796135902
        ],
        "speed": 2.4262986104269366,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.960237503051758,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -3.569334512576461e-05,
                -5.436068749986589e-05,
                0.00030925864120945334
            ],
            "speed_kmh": 0.0011376797804619602,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16650390625,
                        "y": 2444.137451171875,
                        "z": 364.7803039550781
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.006814002990723,
                "transform": {
                    "location": {
                        "x": 2231.0380859375,
                        "y": 2524.28955078125,
                        "z": 366.38177490234375
                    },
                    "rotation": {
                        "roll": -0.00994872860610485,
                        "pitch": -1.489227056503296,
                        "yaw": -179.59730529785156
                    }
                },
                "velocity": {
                    "x": -8.002896308898926,
                    "y": -0.04289993271231651,
                    "z": -0.24675686657428741
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.20976448059082,
                "transform": {
                    "location": {
                        "x": 2187.870361328125,
                        "y": 2564.304931640625,
                        "z": 365.1142883300781
                    },
                    "rotation": {
                        "roll": 0.005948351696133614,
                        "pitch": 0.16347374022006989,
                        "yaw": -90.33580780029297
                    }
                },
                "velocity": {
                    "x": 0.01513601839542389,
                    "y": -4.209718704223633,
                    "z": 0.012535314075648785
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0010118840727955103,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2539.90576171875,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.00027465916355140507,
                        "pitch": -0.022669397294521332,
                        "yaw": -91.54015350341797
                    }
                },
                "velocity": {
                    "x": 7.449020358762937e-06,
                    "y": 1.2185204468551092e-05,
                    "z": 0.0010117832571268082
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.4619140625,
                "transform": {
                    "location": {
                        "x": 2185.04248046875,
                        "y": 2470.837158203125,
                        "z": 364.8650817871094
                    },
                    "rotation": {
                        "roll": 0.000659219513181597,
                        "pitch": 0.5115879774093628,
                        "yaw": 90.00889587402344
                    }
                },
                "velocity": {
                    "x": -0.004098052158951759,
                    "y": 2.4618122577667236,
                    "z": 0.02202211320400238
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00031602216768078506,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -3.569334512576461e-05,
                    "y": -5.436068749986589e-05,
                    "z": 0.00030925864120945334
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00025358557468280196,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.002224968047812581,
                        "pitch": -1.404232144355774,
                        "yaw": 179.79588317871094
                    }
                },
                "velocity": {
                    "x": -3.715380807989277e-05,
                    "y": -5.545010481000645e-06,
                    "z": -0.0002507877361495048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8197935819625854,
                "transform": {
                    "location": {
                        "x": 2187.897216796875,
                        "y": 2551.60693359375,
                        "z": 365.15667724609375
                    },
                    "rotation": {
                        "roll": 0.0008463350823149085,
                        "pitch": 0.3806532621383667,
                        "yaw": -89.8421859741211
                    }
                },
                "velocity": {
                    "x": 0.00427484093233943,
                    "y": -1.8197871446609497,
                    "z": 0.0022143840324133635
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3776804804801941,
                "transform": {
                    "location": {
                        "x": 2160.30712890625,
                        "y": 2527.349365234375,
                        "z": 364.7545471191406
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": 0.05943630263209343,
                        "yaw": 0.06229410320520401
                    }
                },
                "velocity": {
                    "x": 0.37767183780670166,
                    "y": 0.00033792227623052895,
                    "z": 0.002531890757381916
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016620743554085493,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 5.420334673544858e-06,
                    "y": -1.0917135114141274e-05,
                    "z": -0.00016575990593992174
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021574624406639487,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 7.974505024321843e-06,
                    "y": 3.4005333873210475e-06,
                    "z": 0.0002155719994334504
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.648753643035889,
                "transform": {
                    "location": {
                        "x": 2140.745849609375,
                        "y": 2527.337646484375,
                        "z": 364.78802490234375
                    },
                    "rotation": {
                        "roll": -0.00018310546875,
                        "pitch": 0.161930114030838,
                        "yaw": 0.39176690578460693
                    }
                },
                "velocity": {
                    "x": 7.648556232452393,
                    "y": 0.04544612392783165,
                    "z": -0.030860327184200287
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9333699345588684,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2485.08642578125,
                        "z": 364.98748779296875
                    },
                    "rotation": {
                        "roll": -0.0003662124800030142,
                        "pitch": 0.43006283044815063,
                        "yaw": 90.14543151855469
                    }
                },
                "velocity": {
                    "x": 0.0002496913366485387,
                    "y": 0.9333551526069641,
                    "z": 0.005240678787231445
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5524516105651855,
                "transform": {
                    "location": {
                        "x": 2185.012939453125,
                        "y": 2496.205810546875,
                        "z": 365.0587158203125
                    },
                    "rotation": {
                        "roll": -0.00045776416664011776,
                        "pitch": 0.3410518169403076,
                        "yaw": 90.09135437011719
                    }
                },
                "velocity": {
                    "x": -0.0042662969790399075,
                    "y": 2.552410125732422,
                    "z": 0.013918771408498287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6682084798812866,
                "transform": {
                    "location": {
                        "x": 2211.770751953125,
                        "y": 2524.28662109375,
                        "z": 365.7978515625
                    },
                    "rotation": {
                        "roll": 0.0005086374003440142,
                        "pitch": -1.5548378229141235,
                        "yaw": 179.8953094482422
                    }
                },
                "velocity": {
                    "x": -1.667578101158142,
                    "y": -0.0005484315915964544,
                    "z": -0.04585053771734238
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.1099510192871094,
                "transform": {
                    "location": {
                        "x": 2185.05615234375,
                        "y": 2459.95654296875,
                        "z": 364.7713317871094
                    },
                    "rotation": {
                        "roll": 0.008311997167766094,
                        "pitch": 0.8233041167259216,
                        "yaw": 90.3397216796875
                    }
                },
                "velocity": {
                    "x": -0.025930270552635193,
                    "y": 3.1096997261047363,
                    "z": 0.02982787974178791
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.19965176284313202,
        "expert_target_speed": 3.3831742878235334,
        "target_point": [
            9.476485058796266,
            9.1276739909044
        ],
        "target_point_next": [
            9.471033331081726,
            37.12774105175314
        ]
    },
    "315": {
        "acceleration": [
            0.13833999633789062,
            -2.2905611991882324,
            0.013135718181729317
        ],
        "angular_velocity": [
            -0.1461467295885086,
            -0.5378275513648987,
            6.526758193969727
        ],
        "forward_vector": [
            -0.027308302000164986,
            0.9996259808540344,
            -0.0014774793526157737
        ],
        "right_vector": [
            -0.9996243715286255,
            -0.027304770424962044,
            0.002360088052228093
        ],
        "location": [
            2185.22998046875,
            2515.48974609375,
            365.1334533691406
        ],
        "rotation": [
            -0.1352233588695526,
            -0.08465336263179779,
            91.56484985351562
        ],
        "velocity": [
            -0.21118919551372528,
            1.8215354681015015,
            0.005720596294850111
        ],
        "speed": 1.8337372597658288,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.589107513427734,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -3.914847911801189e-05,
                7.930042897896783e-07,
                1.9819668523268774e-05
            ],
            "speed_kmh": 0.00015799249309142376,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1650390625,
                        "y": 2445.3037109375,
                        "z": 364.6889343261719
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 8.250238418579102,
                "transform": {
                    "location": {
                        "x": 2228.969970703125,
                        "y": 2524.28076171875,
                        "z": 366.31732177734375
                    },
                    "rotation": {
                        "roll": -0.002075194614008069,
                        "pitch": -1.709377646446228,
                        "yaw": -179.7763671875
                    }
                },
                "velocity": {
                    "x": -8.246255874633789,
                    "y": -0.028528401628136635,
                    "z": -0.2547094523906708
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6256643533706665,
                "transform": {
                    "location": {
                        "x": 2187.871826171875,
                        "y": 2563.98828125,
                        "z": 365.1148376464844
                    },
                    "rotation": {
                        "roll": 0.0157751627266407,
                        "pitch": -0.23053252696990967,
                        "yaw": -90.50418090820312
                    }
                },
                "velocity": {
                    "x": -0.0005019120872020721,
                    "y": -0.625657856464386,
                    "z": 0.002805042313411832
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0005128486664034426,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2539.90576171875,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.00027465916355140507,
                        "pitch": -0.022669397294521332,
                        "yaw": -91.54015350341797
                    }
                },
                "velocity": {
                    "x": -3.4440083254594356e-05,
                    "y": -9.926201528287493e-06,
                    "z": 0.0005115946405567229
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.0212011337280273,
                "transform": {
                    "location": {
                        "x": 2185.040771484375,
                        "y": 2471.52490234375,
                        "z": 364.8712158203125
                    },
                    "rotation": {
                        "roll": 0.0003017406852450222,
                        "pitch": 0.5059394240379333,
                        "yaw": 90.03538513183594
                    }
                },
                "velocity": {
                    "x": -0.004058681894093752,
                    "y": 3.0210866928100586,
                    "z": 0.025992125272750854
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.388680463307537e-05,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -3.914847911801189e-05,
                    "y": 7.930042897896783e-07,
                    "z": 1.9819668523268774e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007508116541430354,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.002224968047812581,
                        "pitch": -1.404232144355774,
                        "yaw": 179.79588317871094
                    }
                },
                "velocity": {
                    "x": -9.551122639095411e-05,
                    "y": 3.581783676054329e-05,
                    "z": 0.0007438500178977847
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.4125571548938751,
                "transform": {
                    "location": {
                        "x": 2187.898681640625,
                        "y": 2551.13818359375,
                        "z": 365.1598205566406
                    },
                    "rotation": {
                        "roll": 0.0015385777223855257,
                        "pitch": 0.06507804244756699,
                        "yaw": -89.88549041748047
                    }
                },
                "velocity": {
                    "x": 0.0008240896859206259,
                    "y": -0.41255617141723633,
                    "z": 0.0003722667752299458
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3661487102508545,
                "transform": {
                    "location": {
                        "x": 2160.537353515625,
                        "y": 2527.34912109375,
                        "z": 364.7561340332031
                    },
                    "rotation": {
                        "roll": 0.0010032231220975518,
                        "pitch": 0.36040857434272766,
                        "yaw": 0.051937036216259
                    }
                },
                "velocity": {
                    "x": 1.3661288022994995,
                    "y": -0.002911162795498967,
                    "z": 0.006781682837754488
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1239628292969428e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 8.211172826122493e-06,
                    "y": -7.1128388299257495e-06,
                    "z": -2.8832976113335462e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003242006350774318,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.2337155567365699e-05,
                    "y": -1.9001761756953783e-05,
                    "z": 0.000323408079566434
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.583967208862305,
                "transform": {
                    "location": {
                        "x": 2142.748779296875,
                        "y": 2527.350341796875,
                        "z": 364.7809143066406
                    },
                    "rotation": {
                        "roll": 0.00043411480146460235,
                        "pitch": 0.047824982553720474,
                        "yaw": 0.30757519602775574
                    }
                },
                "velocity": {
                    "x": 8.583769798278809,
                    "y": 0.04773734137415886,
                    "z": -0.03325268626213074
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8140733242034912,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2485.432861328125,
                        "z": 364.99066162109375
                    },
                    "rotation": {
                        "roll": 0.000876412377692759,
                        "pitch": 0.32071152329444885,
                        "yaw": 90.12992858886719
                    }
                },
                "velocity": {
                    "x": -0.002826361684128642,
                    "y": 1.8140367269515991,
                    "z": 0.0111625287681818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9181647300720215,
                "transform": {
                    "location": {
                        "x": 2185.0126953125,
                        "y": 2496.76904296875,
                        "z": 365.0614013671875
                    },
                    "rotation": {
                        "roll": -0.0001830852124840021,
                        "pitch": 0.3847445249557495,
                        "yaw": 90.08765411376953
                    }
                },
                "velocity": {
                    "x": -0.003043972887098789,
                    "y": 1.9181338548660278,
                    "z": 0.010446805506944656
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.3635965883731842,
                "transform": {
                    "location": {
                        "x": 2211.31005859375,
                        "y": 2524.2919921875,
                        "z": 365.7855529785156
                    },
                    "rotation": {
                        "roll": -0.011871336959302425,
                        "pitch": -1.607054591178894,
                        "yaw": -179.73794555664062
                    }
                },
                "velocity": {
                    "x": -0.36323729157447815,
                    "y": 0.007416469976305962,
                    "z": -0.01435789093375206
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2902185320854187,
                "transform": {
                    "location": {
                        "x": 2185.054443359375,
                        "y": 2460.179443359375,
                        "z": 364.7730712890625
                    },
                    "rotation": {
                        "roll": 0.002495639258995652,
                        "pitch": 0.8872073888778687,
                        "yaw": 90.3277816772461
                    }
                },
                "velocity": {
                    "x": 0.0001706194452708587,
                    "y": 0.2902011275291443,
                    "z": 0.0031743240542709827
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.17136026918888092,
        "expert_target_speed": 2.8068382416818025,
        "target_point": [
            9.218463601478419,
            8.812577278581712
        ],
        "target_point_next": [
            10.044608597680696,
            36.800454468154555
        ]
    },
    "320": {
        "acceleration": [
            -0.13833969831466675,
            -1.3786649703979492,
            -0.008095549419522285
        ],
        "angular_velocity": [
            0.1703180968761444,
            -0.0668303593993187,
            5.972332000732422
        ],
        "forward_vector": [
            -0.05488114804029465,
            0.9984918236732483,
            -0.0014619821449741721
        ],
        "right_vector": [
            -0.9984920620918274,
            -0.05487915128469467,
            0.001373656326904893
        ],
        "location": [
            2185.179931640625,
            2515.882080078125,
            365.1344299316406
        ],
        "rotation": [
            -0.0787048265337944,
            -0.0837654322385788,
            93.14604187011719
        ],
        "velocity": [
            -0.23111474514007568,
            1.367931842803955,
            0.0040280818939208984
        ],
        "speed": 1.3873181149174787,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.302766799926758,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -4.272684236639179e-05,
                -4.1108138248091564e-05,
                0.0005080653936602175
            ],
            "speed_kmh": 0.0018414480568178517,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.09421666711568832,
                "transform": {
                    "location": {
                        "x": 2185.16455078125,
                        "y": 2445.899169921875,
                        "z": 364.6348876953125
                    },
                    "rotation": {
                        "roll": -0.0012207124382257462,
                        "pitch": 0.6680129766464233,
                        "yaw": 90.0604019165039
                    }
                },
                "velocity": {
                    "x": 1.3525550457416102e-05,
                    "y": 0.0010451208800077438,
                    "z": -0.09421087056398392
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.361727237701416,
                "transform": {
                    "location": {
                        "x": 2227.003662109375,
                        "y": 2524.275146484375,
                        "z": 366.2561950683594
                    },
                    "rotation": {
                        "roll": -0.004699706565588713,
                        "pitch": -1.8644366264343262,
                        "yaw": -179.84666442871094
                    }
                },
                "velocity": {
                    "x": -7.358165264129639,
                    "y": -0.018578872084617615,
                    "z": -0.22822560369968414
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0145678520202637,
                "transform": {
                    "location": {
                        "x": 2187.8720703125,
                        "y": 2563.635009765625,
                        "z": 365.1170654296875
                    },
                    "rotation": {
                        "roll": 0.00019059421902056783,
                        "pitch": 0.29956525564193726,
                        "yaw": -90.39591217041016
                    }
                },
                "velocity": {
                    "x": -0.0017541152192279696,
                    "y": -2.0145552158355713,
                    "z": 0.006974401418119669
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0006314648198895156,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2539.90576171875,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.00027465916355140507,
                        "pitch": -0.022669397294521332,
                        "yaw": -91.54015350341797
                    }
                },
                "velocity": {
                    "x": 6.253667379496619e-05,
                    "y": 2.4456672690575942e-05,
                    "z": 0.0006278844084590673
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6830904483795166,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2472.36181640625,
                        "z": 364.87823486328125
                    },
                    "rotation": {
                        "roll": 0.0007848890963941813,
                        "pitch": 0.5097574591636658,
                        "yaw": 90.05118560791016
                    }
                },
                "velocity": {
                    "x": -0.00494194682687521,
                    "y": 3.68295955657959,
                    "z": 0.03064640983939171
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005115133244544268,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -4.272684236639179e-05,
                    "y": -4.1108138248091564e-05,
                    "z": 0.0005080653936602175
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00032635475508868694,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.002224968047812581,
                        "pitch": -1.404232144355774,
                        "yaw": 179.79588317871094
                    }
                },
                "velocity": {
                    "x": -6.983354251133278e-05,
                    "y": 6.932024462003028e-06,
                    "z": 0.00031872032559476793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4242292642593384,
                "transform": {
                    "location": {
                        "x": 2187.89892578125,
                        "y": 2550.946044921875,
                        "z": 365.1608581542969
                    },
                    "rotation": {
                        "roll": -0.0003662109375,
                        "pitch": 0.00029369810363277793,
                        "yaw": -89.89229583740234
                    }
                },
                "velocity": {
                    "x": 0.0029698568396270275,
                    "y": -1.424224615097046,
                    "z": 0.002106885891407728
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00177068414632231,
                "transform": {
                    "location": {
                        "x": 2160.79150390625,
                        "y": 2527.34814453125,
                        "z": 364.7575988769531
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": 0.13472548127174377,
                        "yaw": -0.012512206099927425
                    }
                },
                "velocity": {
                    "x": 0.0009267721907235682,
                    "y": 0.0001946785778272897,
                    "z": 0.0014961670385673642
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00042704216320998967,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.1079385330958758e-05,
                    "y": 2.7713729195966152e-06,
                    "z": -0.00042688942630775273
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006352576310746372,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.620618761284277e-05,
                    "y": 2.7635418518912047e-05,
                    "z": 0.0006341149564832449
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.223488807678223,
                "transform": {
                    "location": {
                        "x": 2144.87890625,
                        "y": 2527.358154296875,
                        "z": 364.7752685546875
                    },
                    "rotation": {
                        "roll": 0.015109333209693432,
                        "pitch": -0.23107895255088806,
                        "yaw": 0.18303033709526062
                    }
                },
                "velocity": {
                    "x": 8.223401069641113,
                    "y": 0.019108733162283897,
                    "z": -0.03284914046525955
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.175010919570923,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2485.96875,
                        "z": 364.99407958984375
                    },
                    "rotation": {
                        "roll": 0.001714540645480156,
                        "pitch": 0.337916761636734,
                        "yaw": 90.11407470703125
                    }
                },
                "velocity": {
                    "x": -0.0030588284134864807,
                    "y": 2.17496657371521,
                    "z": 0.013528556562960148
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6705026626586914,
                "transform": {
                    "location": {
                        "x": 2185.0126953125,
                        "y": 2497.201416015625,
                        "z": 365.0638732910156
                    },
                    "rotation": {
                        "roll": -0.0005188246723264456,
                        "pitch": 0.36419934034347534,
                        "yaw": 90.08379364013672
                    }
                },
                "velocity": {
                    "x": -0.0026372503489255905,
                    "y": 1.6704717874526978,
                    "z": 0.009819040074944496
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9851891994476318,
                "transform": {
                    "location": {
                        "x": 2210.98486328125,
                        "y": 2524.292236328125,
                        "z": 365.7760925292969
                    },
                    "rotation": {
                        "roll": -0.008850096724927425,
                        "pitch": -1.5086658000946045,
                        "yaw": -179.83590698242188
                    }
                },
                "velocity": {
                    "x": -1.984433889389038,
                    "y": 0.005142642185091972,
                    "z": -0.05451776459813118
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2579280138015747,
                "transform": {
                    "location": {
                        "x": 2185.053955078125,
                        "y": 2460.378173828125,
                        "z": 364.7779846191406
                    },
                    "rotation": {
                        "roll": 0.001872591907158494,
                        "pitch": 0.5286702513694763,
                        "yaw": 90.29008483886719
                    }
                },
                "velocity": {
                    "x": -0.00027216854505240917,
                    "y": 1.2578648328781128,
                    "z": 0.01260353997349739
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.15118657052516937,
        "expert_target_speed": 2.369343255457534,
        "target_point": [
            9.063641551173514,
            8.52640233706299
        ],
        "target_point_next": [
            10.661780660476534,
            36.48082482297169
        ]
    },
    "325": {
        "acceleration": [
            -0.3887307643890381,
            2.3200321197509766,
            0.014156722463667393
        ],
        "angular_velocity": [
            1.1143611669540405,
            0.1598697155714035,
            5.198672294616699
        ],
        "forward_vector": [
            -0.07842432707548141,
            0.9969197511672974,
            0.0007754563121125102
        ],
        "right_vector": [
            -0.9969194531440735,
            -0.07842510938644409,
            0.0010386321227997541
        ],
        "location": [
            2185.126220703125,
            2516.21435546875,
            365.1348876953125
        ],
        "rotation": [
            -0.0595092736184597,
            0.04443037882447243,
            94.49800109863281
        ],
        "velocity": [
            -0.271735817193985,
            1.464418888092041,
            0.002577934181317687
        ],
        "speed": 1.48941701150041,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 18.054553985595703,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -4.495113898883574e-05,
                -5.1463921408867463e-05,
                0.00023527038865722716
            ],
            "speed_kmh": 0.0008819727856526776,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.04207290709018707,
                "transform": {
                    "location": {
                        "x": 2185.1640625,
                        "y": 2446.31591796875,
                        "z": 364.62506103515625
                    },
                    "rotation": {
                        "roll": 3.361962399139884e-06,
                        "pitch": 0.6684364080429077,
                        "yaw": 90.0604019165039
                    }
                },
                "velocity": {
                    "x": 4.463575533009134e-05,
                    "y": 0.0004095513140782714,
                    "z": -0.042070891708135605
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.3209028244018555,
                "transform": {
                    "location": {
                        "x": 2225.363037109375,
                        "y": 2524.272705078125,
                        "z": 366.2052917480469
                    },
                    "rotation": {
                        "roll": -0.001739501953125,
                        "pitch": -2.034119129180908,
                        "yaw": -179.91355895996094
                    }
                },
                "velocity": {
                    "x": -5.31843376159668,
                    "y": -0.004457700997591019,
                    "z": -0.16201233863830566
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6644890904426575,
                "transform": {
                    "location": {
                        "x": 2187.8720703125,
                        "y": 2563.1494140625,
                        "z": 365.1187744140625
                    },
                    "rotation": {
                        "roll": 0.0005286406958475709,
                        "pitch": 0.13150162994861603,
                        "yaw": -90.4450912475586
                    }
                },
                "velocity": {
                    "x": 0.0017336001619696617,
                    "y": -0.6644721627235413,
                    "z": 0.004410438239574432
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0012088072253391147,
                "transform": {
                    "location": {
                        "x": 2187.86279296875,
                        "y": 2539.90576171875,
                        "z": 365.16058349609375
                    },
                    "rotation": {
                        "roll": -0.00027465916355140507,
                        "pitch": -0.022669397294521332,
                        "yaw": -91.54015350341797
                    }
                },
                "velocity": {
                    "x": -5.950960985501297e-05,
                    "y": -7.968411409819964e-06,
                    "z": 0.0012073152465745807
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.557033061981201,
                "transform": {
                    "location": {
                        "x": 2185.037109375,
                        "y": 2473.392822265625,
                        "z": 364.8869934082031
                    },
                    "rotation": {
                        "roll": 0.0006856347317807376,
                        "pitch": 0.5162939429283142,
                        "yaw": 90.05506134033203
                    }
                },
                "velocity": {
                    "x": -0.004466137383133173,
                    "y": 4.556872367858887,
                    "z": 0.038045089691877365
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002449924359098077,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -4.495113898883574e-05,
                    "y": -5.1463921408867463e-05,
                    "z": 0.00023527038865722716
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00014089381147641689,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.002224968047812581,
                        "pitch": -1.404232144355774,
                        "yaw": 179.79588317871094
                    }
                },
                "velocity": {
                    "x": -6.526693323394284e-05,
                    "y": 3.13958698825445e-05,
                    "z": 0.00012085359048796818
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.503680467605591,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2550.41357421875,
                        "z": 365.15850830078125
                    },
                    "rotation": {
                        "roll": 0.0001610738254385069,
                        "pitch": 0.40884828567504883,
                        "yaw": -89.86271667480469
                    }
                },
                "velocity": {
                    "x": 0.0043227593414485455,
                    "y": -2.5036754608154297,
                    "z": 0.002547254553064704
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001843732432462275,
                "transform": {
                    "location": {
                        "x": 2160.79248046875,
                        "y": 2527.34814453125,
                        "z": 364.75787353515625
                    },
                    "rotation": {
                        "roll": 0.0003229621797800064,
                        "pitch": 0.25943106412887573,
                        "yaw": -0.01251220703125
                    }
                },
                "velocity": {
                    "x": -0.0008923516143113375,
                    "y": 0.00010845487850019708,
                    "z": 0.0016097500920295715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.465638605528511e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.6470514310640283e-05,
                    "y": -1.9583138055168092e-05,
                    "z": 4.8296413297066465e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003772338095586747,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.231286660186015e-05,
                    "y": 6.2357416936720256e-06,
                    "z": 0.0003769812174141407
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2319579124450684,
                "transform": {
                    "location": {
                        "x": 2146.209716796875,
                        "y": 2527.362060546875,
                        "z": 364.7790832519531
                    },
                    "rotation": {
                        "roll": 0.001740000443533063,
                        "pitch": -1.3683395385742188,
                        "yaw": 0.09655836224555969
                    }
                },
                "velocity": {
                    "x": 2.2319259643554688,
                    "y": 0.004886316601186991,
                    "z": -0.01090331096202135
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5816820859909058,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2486.31689453125,
                        "z": 364.9947814941406
                    },
                    "rotation": {
                        "roll": 0.0026701882015913725,
                        "pitch": 0.5385535359382629,
                        "yaw": 90.24351501464844
                    }
                },
                "velocity": {
                    "x": -0.0002452184271533042,
                    "y": 0.581667959690094,
                    "z": 0.004046573769301176
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2116003036499023,
                "transform": {
                    "location": {
                        "x": 2185.0126953125,
                        "y": 2497.68701171875,
                        "z": 365.0672912597656
                    },
                    "rotation": {
                        "roll": 0.00019934512965846807,
                        "pitch": 0.2767046093940735,
                        "yaw": 90.0708236694336
                    }
                },
                "velocity": {
                    "x": -0.002729088068008423,
                    "y": 2.2115707397460938,
                    "z": 0.011113996617496014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.317232131958008,
                "transform": {
                    "location": {
                        "x": 2210.53173828125,
                        "y": 2524.288330078125,
                        "z": 365.7638244628906
                    },
                    "rotation": {
                        "roll": 0.0026413321029394865,
                        "pitch": -1.5053941011428833,
                        "yaw": 179.77297973632812
                    }
                },
                "velocity": {
                    "x": -2.3164384365081787,
                    "y": -0.004062752705067396,
                    "z": -0.060502052307128906
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0580861568450928,
                "transform": {
                    "location": {
                        "x": 2185.0537109375,
                        "y": 2460.79638671875,
                        "z": 364.7825622558594
                    },
                    "rotation": {
                        "roll": 0.0015414900844916701,
                        "pitch": 0.484772652387619,
                        "yaw": 90.25892639160156
                    }
                },
                "velocity": {
                    "x": -0.00377008318901062,
                    "y": 2.057990550994873,
                    "z": 0.01945432648062706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.13739129900932312,
        "expert_target_speed": 2.458419977442315,
        "target_point": [
            8.926813073934085,
            8.282708645475097
        ],
        "target_point_next": [
            11.184020076238387,
            36.19164631214579
        ]
    },
    "330": {
        "acceleration": [
            -0.7546067237854004,
            0.8572864532470703,
            0.004953579045832157
        ],
        "angular_velocity": [
            0.08484899252653122,
            0.3659185469150543,
            8.66455078125
        ],
        "forward_vector": [
            -0.11038783192634583,
            0.9938820004463196,
            0.0036150135565549135
        ],
        "right_vector": [
            -0.9938851594924927,
            -0.11039620637893677,
            0.0022034829016774893
        ],
        "location": [
            2185.04248046875,
            2516.639892578125,
            365.13519287109375
        ],
        "rotation": [
            -0.1262512058019638,
            0.2071254700422287,
            96.33771514892578
        ],
        "velocity": [
            -0.4351361095905304,
            1.8359746932983398,
            0.003264207858592272
        ],
        "speed": 1.886835050634134,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.72899055480957,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -5.66868475289084e-05,
                -4.560626985039562e-05,
                0.0010010243859142065
            ],
            "speed_kmh": 0.003613193496947876,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.01004432886838913,
                "transform": {
                    "location": {
                        "x": 2185.16357421875,
                        "y": 2446.732666015625,
                        "z": 364.6251220703125
                    },
                    "rotation": {
                        "roll": 0.0007270618807524443,
                        "pitch": 0.6517571210861206,
                        "yaw": 90.06045532226562
                    }
                },
                "velocity": {
                    "x": -3.9650200051255524e-05,
                    "y": -0.00013351089728530496,
                    "z": -0.010043363086879253
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.309904098510742,
                "transform": {
                    "location": {
                        "x": 2224.444091796875,
                        "y": 2524.27490234375,
                        "z": 366.1767883300781
                    },
                    "rotation": {
                        "roll": -0.0227050743997097,
                        "pitch": -2.186152219772339,
                        "yaw": -178.89108276367188
                    }
                },
                "velocity": {
                    "x": -2.3088176250457764,
                    "y": 0.01094452477991581,
                    "z": -0.06998822093009949
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0929549932479858,
                "transform": {
                    "location": {
                        "x": 2187.8720703125,
                        "y": 2563.01220703125,
                        "z": 365.1195983886719
                    },
                    "rotation": {
                        "roll": -0.0018005440942943096,
                        "pitch": 0.2385033667087555,
                        "yaw": -90.40353393554688
                    }
                },
                "velocity": {
                    "x": 0.0013100579380989075,
                    "y": -1.092948079109192,
                    "z": 0.0036691378336399794
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.11828010529279709,
                "transform": {
                    "location": {
                        "x": 2187.862548828125,
                        "y": 2539.900146484375,
                        "z": 365.1604919433594
                    },
                    "rotation": {
                        "roll": 0.0009620898636057973,
                        "pitch": -0.0048835850320756435,
                        "yaw": -91.53085327148438
                    }
                },
                "velocity": {
                    "x": -0.004944910760968924,
                    "y": -0.11817573010921478,
                    "z": 0.0004772281681653112
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.6669728755950928,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2474.5869140625,
                        "z": 364.8973083496094
                    },
                    "rotation": {
                        "roll": 0.0003130522381979972,
                        "pitch": 0.4761461317539215,
                        "yaw": 90.05401611328125
                    }
                },
                "velocity": {
                    "x": -0.0036950584035366774,
                    "y": 3.666874408721924,
                    "z": 0.02661621943116188
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010036648018285632,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -5.66868475289084e-05,
                    "y": -4.560626985039562e-05,
                    "z": 0.0010010243859142065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00047990292659960687,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.002224968047812581,
                        "pitch": -1.404232144355774,
                        "yaw": 179.79588317871094
                    }
                },
                "velocity": {
                    "x": -6.318136729532853e-05,
                    "y": 2.1188639948377386e-05,
                    "z": 0.00047525358968414366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002609704853966832,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2550.18017578125,
                        "z": 365.1650390625
                    },
                    "rotation": {
                        "roll": -0.002655024640262127,
                        "pitch": -0.3713368773460388,
                        "yaw": -89.82215881347656
                    }
                },
                "velocity": {
                    "x": -5.507641253643669e-05,
                    "y": -0.002605392364785075,
                    "z": -0.00013948565174359828
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016233164351433516,
                "transform": {
                    "location": {
                        "x": 2160.79296875,
                        "y": 2527.34814453125,
                        "z": 364.7579650878906
                    },
                    "rotation": {
                        "roll": 0.0005926676676608622,
                        "pitch": 0.3037863075733185,
                        "yaw": -0.012481688521802425
                    }
                },
                "velocity": {
                    "x": -0.0002642775361891836,
                    "y": 1.7543281501275487e-05,
                    "z": 0.0016015635337680578
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00036237112362869084,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 6.580464287253562e-06,
                    "y": -1.4929656572348904e-05,
                    "z": 0.00036200362956151366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.683559043565765e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.1391490261303261e-05,
                    "y": -2.6222098313155584e-05,
                    "z": 2.3227055862662382e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.44451257586479187,
                "transform": {
                    "location": {
                        "x": 2146.323486328125,
                        "y": 2527.362060546875,
                        "z": 364.7767639160156
                    },
                    "rotation": {
                        "roll": -3.0517478080582805e-05,
                        "pitch": -1.1475536823272705,
                        "yaw": 0.0974920392036438
                    }
                },
                "velocity": {
                    "x": 0.4445081651210785,
                    "y": 0.0006464442703872919,
                    "z": -0.0018749332521110773
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5358436107635498,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2486.6005859375,
                        "z": 364.9982604980469
                    },
                    "rotation": {
                        "roll": 0.000756790570449084,
                        "pitch": 0.34407758712768555,
                        "yaw": 90.2141342163086
                    }
                },
                "velocity": {
                    "x": -0.001992326695472002,
                    "y": 1.5358107089996338,
                    "z": 0.009844770655035973
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7735527753829956,
                "transform": {
                    "location": {
                        "x": 2185.0126953125,
                        "y": 2498.19189453125,
                        "z": 365.0694580078125
                    },
                    "rotation": {
                        "roll": 0.0010356316342949867,
                        "pitch": 0.3346450924873352,
                        "yaw": 90.07205963134766
                    }
                },
                "velocity": {
                    "x": -0.0029578739777207375,
                    "y": 1.773524284362793,
                    "z": 0.00960550270974636
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005834547919221222,
                "transform": {
                    "location": {
                        "x": 2210.321533203125,
                        "y": 2524.2890625,
                        "z": 365.7589111328125
                    },
                    "rotation": {
                        "roll": 0.001350864884443581,
                        "pitch": -1.6283785104751587,
                        "yaw": 179.8706817626953
                    }
                },
                "velocity": {
                    "x": 0.00015571847325190902,
                    "y": 2.3023727408144623e-05,
                    "z": -0.0005618195282295346
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9519176483154297,
                "transform": {
                    "location": {
                        "x": 2185.052490234375,
                        "y": 2461.3212890625,
                        "z": 364.787109375
                    },
                    "rotation": {
                        "roll": 0.0009454393293708563,
                        "pitch": 0.5595700740814209,
                        "yaw": 90.21773529052734
                    }
                },
                "velocity": {
                    "x": -0.002395741641521454,
                    "y": 1.9518063068389893,
                    "z": 0.02070394530892372
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.1284652203321457,
        "expert_target_speed": 2.8243248945039614,
        "target_point": [
            8.755939122552736,
            7.955598990598174
        ],
        "target_point_next": [
            11.9079706355025,
            35.777685225723204
        ]
    },
    "335": {
        "acceleration": [
            0.253329873085022,
            -1.60963773727417,
            -0.009014508686959743
        ],
        "angular_velocity": [
            -0.5842148065567017,
            -0.5169837474822998,
            9.016814231872559
        ],
        "forward_vector": [
            -0.14983394742012024,
            0.988709568977356,
            0.0017522562993690372
        ],
        "right_vector": [
            -0.9887083172798157,
            -0.14983753859996796,
            0.0021294583566486835
        ],
        "location": [
            2184.933349609375,
            2517.078369140625,
            365.1365661621094
        ],
        "rotation": [
            -0.1220092624425888,
            0.10039694607257843,
            98.61731719970703
        ],
        "velocity": [
            -0.47593459486961365,
            1.5999889373779297,
            0.0028324509039521217
        ],
        "speed": 1.6692747941323083,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.380022048950195,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -2.195745582866948e-05,
                -1.1142291441501584e-05,
                0.0003927142533939332
            ],
            "speed_kmh": 0.0014165474643849792,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013225171715021133,
                "transform": {
                    "location": {
                        "x": 2185.1630859375,
                        "y": 2447.1494140625,
                        "z": 364.62908935546875
                    },
                    "rotation": {
                        "roll": 0.0006976050790399313,
                        "pitch": 0.6537446975708008,
                        "yaw": 90.0604476928711
                    }
                },
                "velocity": {
                    "x": -0.0002531228237785399,
                    "y": -0.00017175286484416574,
                    "z": -0.0012866550823673606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6930308938026428,
                "transform": {
                    "location": {
                        "x": 2224.259521484375,
                        "y": 2524.27490234375,
                        "z": 366.17138671875
                    },
                    "rotation": {
                        "roll": -0.051605213433504105,
                        "pitch": -2.045832872390747,
                        "yaw": -178.7487335205078
                    }
                },
                "velocity": {
                    "x": -0.6927191019058228,
                    "y": -0.006163980346173048,
                    "z": -0.019852250814437866
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.128965377807617,
                "transform": {
                    "location": {
                        "x": 2187.87255859375,
                        "y": 2562.5966796875,
                        "z": 365.1214294433594
                    },
                    "rotation": {
                        "roll": -0.0033263820223510265,
                        "pitch": 0.36248496174812317,
                        "yaw": -90.25164031982422
                    }
                },
                "velocity": {
                    "x": 0.0015861333813518286,
                    "y": -2.1289520263671875,
                    "z": 0.007373008411377668
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.8644084930419922,
                "transform": {
                    "location": {
                        "x": 2187.856689453125,
                        "y": 2539.7861328125,
                        "z": 365.1598205566406
                    },
                    "rotation": {
                        "roll": 0.01942986249923706,
                        "pitch": 0.17513969540596008,
                        "yaw": -91.68478393554688
                    }
                },
                "velocity": {
                    "x": -0.0485377162694931,
                    "y": -0.8630440831184387,
                    "z": 0.0010198020609095693
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.3206382095813751,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2474.8251953125,
                        "z": 364.9000549316406
                    },
                    "rotation": {
                        "roll": -0.000152588399942033,
                        "pitch": 0.36225271224975586,
                        "yaw": 90.05667114257812
                    }
                },
                "velocity": {
                    "x": -0.00039565074257552624,
                    "y": 0.3206343650817871,
                    "z": 0.001521854312159121
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003934853884857148,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -2.195745582866948e-05,
                    "y": -1.1142291441501584e-05,
                    "z": 0.0003927142533939332
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.033839160110801e-05,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.002224968047812581,
                        "pitch": -1.404232144355774,
                        "yaw": 179.79588317871094
                    }
                },
                "velocity": {
                    "x": -5.7989207562059164e-05,
                    "y": -2.1211646526353434e-05,
                    "z": -6.594196747755632e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0037125456146895885,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2550.177978515625,
                        "z": 365.1627197265625
                    },
                    "rotation": {
                        "roll": -0.0007324185571633279,
                        "pitch": -0.0881640762090683,
                        "yaw": -89.822265625
                    }
                },
                "velocity": {
                    "x": 2.4032953660935163e-05,
                    "y": 0.003502004314213991,
                    "z": 0.0012322270777076483
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013039056211709976,
                "transform": {
                    "location": {
                        "x": 2160.79296875,
                        "y": 2527.34814453125,
                        "z": 364.75799560546875
                    },
                    "rotation": {
                        "roll": 0.0002078608813462779,
                        "pitch": 0.31205084919929504,
                        "yaw": -0.012481689453125
                    }
                },
                "velocity": {
                    "x": -7.587730942759663e-05,
                    "y": -0.00011022127728210762,
                    "z": 0.0012970210518687963
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.636891026166268e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 3.4420936572132632e-06,
                    "y": 1.0253061191178858e-05,
                    "z": -4.50899351562839e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005976743414066732,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.5102215002116282e-05,
                    "y": -5.61558499612147e-06,
                    "z": 0.0005974571104161441
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8771247863769531,
                "transform": {
                    "location": {
                        "x": 2146.51171875,
                        "y": 2527.362060546875,
                        "z": 364.7667541503906
                    },
                    "rotation": {
                        "roll": 0.0012767160078510642,
                        "pitch": 0.007308301981538534,
                        "yaw": 0.11722319573163986
                    }
                },
                "velocity": {
                    "x": 0.8771218061447144,
                    "y": 0.0005030445172451437,
                    "z": -0.0022279261611402035
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.222506523132324,
                "transform": {
                    "location": {
                        "x": 2185.02490234375,
                        "y": 2487.095458984375,
                        "z": 365.0018615722656
                    },
                    "rotation": {
                        "roll": 0.0004463431250769645,
                        "pitch": 0.3043258786201477,
                        "yaw": 90.18296813964844
                    }
                },
                "velocity": {
                    "x": -0.0031380446162074804,
                    "y": 2.2224631309509277,
                    "z": 0.013510618358850479
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0179874897003174,
                "transform": {
                    "location": {
                        "x": 2185.0126953125,
                        "y": 2498.641357421875,
                        "z": 365.0724182128906
                    },
                    "rotation": {
                        "roll": 0.0013418021844699979,
                        "pitch": 0.288739413022995,
                        "yaw": 90.07003021240234
                    }
                },
                "velocity": {
                    "x": -0.0031009947415441275,
                    "y": 2.017958879470825,
                    "z": 0.010287456214427948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009612877038307488,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.7583923339844
                    },
                    "rotation": {
                        "roll": 0.0012266741832718253,
                        "pitch": -1.5555413961410522,
                        "yaw": 179.87063598632812
                    }
                },
                "velocity": {
                    "x": 1.697808511380572e-05,
                    "y": -4.96456607379514e-07,
                    "z": 0.0009611376444809139
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.457824945449829,
                "transform": {
                    "location": {
                        "x": 2185.05224609375,
                        "y": 2461.85595703125,
                        "z": 364.7928161621094
                    },
                    "rotation": {
                        "roll": 0.0012914143735542893,
                        "pitch": 0.5294147729873657,
                        "yaw": 90.18980407714844
                    }
                },
                "velocity": {
                    "x": -0.0037460222374647856,
                    "y": 2.4577207565307617,
                    "z": 0.022319840267300606
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.08617998659610748,
        "expert_target_speed": 2.602366095716287,
        "target_point": [
            8.615575986460106,
            7.558824032931989
        ],
        "target_point_next": [
            12.871773200001549,
            35.233515908593475
        ]
    },
    "340": {
        "acceleration": [
            -0.13987302780151367,
            -1.281905174255371,
            -0.007146643474698067
        ],
        "angular_velocity": [
            -0.1948261708021164,
            0.005276587791740894,
            8.41532039642334
        ],
        "forward_vector": [
            -0.18753868341445923,
            0.9822571277618408,
            -0.00032174584339372814
        ],
        "right_vector": [
            -0.9822564125061035,
            -0.18753813207149506,
            0.001285773585550487
        ],
        "location": [
            2184.82373046875,
            2517.42626953125,
            365.1375732421875
        ],
        "rotation": [
            -0.0736694261431694,
            -0.0184346791356802,
            100.8091812133789
        ],
        "velocity": [
            -0.4641096889972687,
            1.212091088294983,
            0.002052965108305216
        ],
        "speed": 1.2979070112089146,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 17.087791442871094,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00045008366578258574,
                "transform": {
                    "location": {
                        "x": 2185.16259765625,
                        "y": 2447.566162109375,
                        "z": 364.63372802734375
                    },
                    "rotation": {
                        "roll": -0.0002441417600493878,
                        "pitch": 0.6532324552536011,
                        "yaw": 90.06045532226562
                    }
                },
                "velocity": {
                    "x": 7.33126507839188e-05,
                    "y": -0.00016406699432991445,
                    "z": -0.0004126531130168587
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7680141925811768,
                "transform": {
                    "location": {
                        "x": 2223.939697265625,
                        "y": 2524.272705078125,
                        "z": 366.16217041015625
                    },
                    "rotation": {
                        "roll": -0.034027088433504105,
                        "pitch": -1.6900004148483276,
                        "yaw": -178.89334106445312
                    }
                },
                "velocity": {
                    "x": -1.7671453952789307,
                    "y": -0.011387395672500134,
                    "z": -0.05423584207892418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.421329379081726,
                "transform": {
                    "location": {
                        "x": 2187.872314453125,
                        "y": 2562.06982421875,
                        "z": 365.12322998046875
                    },
                    "rotation": {
                        "roll": 0.0010114877950400114,
                        "pitch": 0.20103295147418976,
                        "yaw": -90.29423522949219
                    }
                },
                "velocity": {
                    "x": -0.00040653551695868373,
                    "y": -1.421316146850586,
                    "z": 0.006109828595072031
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.5849417448043823,
                "transform": {
                    "location": {
                        "x": 2187.83984375,
                        "y": 2539.47509765625,
                        "z": 365.15948486328125
                    },
                    "rotation": {
                        "roll": 0.028545353561639786,
                        "pitch": 0.27463504672050476,
                        "yaw": -91.97105407714844
                    }
                },
                "velocity": {
                    "x": -0.09178449213504791,
                    "y": -1.5822817087173462,
                    "z": -0.0008677196456119418
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9667225480079651,
                "transform": {
                    "location": {
                        "x": 2185.03515625,
                        "y": 2474.991943359375,
                        "z": 364.9004211425781
                    },
                    "rotation": {
                        "roll": -0.0005493154167197645,
                        "pitch": 0.47388532757759094,
                        "yaw": 90.03182220458984
                    }
                },
                "velocity": {
                    "x": -0.0017905757995322347,
                    "y": 0.9666936993598938,
                    "z": 0.00725149130448699
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004697127442341298,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.002224968047812581,
                        "pitch": -1.404232144355774,
                        "yaw": 179.79588317871094
                    }
                },
                "velocity": {
                    "x": -6.451561785070226e-05,
                    "y": -7.470599939551903e-06,
                    "z": 0.000465201010229066
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0019860623870044947,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2550.176025390625,
                        "z": 365.160888671875
                    },
                    "rotation": {
                        "roll": 0.0004490597057156265,
                        "pitch": 0.14613188803195953,
                        "yaw": -89.822265625
                    }
                },
                "velocity": {
                    "x": 1.4265513527789153e-05,
                    "y": 0.00040401372825726867,
                    "z": 0.0019444826757535338
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001823568600229919,
                "transform": {
                    "location": {
                        "x": 2160.79296875,
                        "y": 2527.34814453125,
                        "z": 364.75799560546875
                    },
                    "rotation": {
                        "roll": 0.0011587404878810048,
                        "pitch": 0.3204314708709717,
                        "yaw": -0.01245117001235485
                    }
                },
                "velocity": {
                    "x": -3.7823319871677086e-05,
                    "y": -9.109679922403302e-06,
                    "z": 0.001823153579607606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.9037244278006256e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.1078677744080778e-05,
                    "y": 6.869173375889659e-06,
                    "z": -3.6796518543269485e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00023432221496477723,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.08209624158917e-05,
                    "y": -1.8456101315678097e-05,
                    "z": -0.00023334348225034773
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.8563368320465088,
                "transform": {
                    "location": {
                        "x": 2146.7255859375,
                        "y": 2527.362060546875,
                        "z": 364.7668151855469
                    },
                    "rotation": {
                        "roll": -3.0517569030052982e-05,
                        "pitch": -0.08627211302518845,
                        "yaw": 0.10839322954416275
                    }
                },
                "velocity": {
                    "x": 0.8563336730003357,
                    "y": 0.000633456336800009,
                    "z": -0.002225322648882866
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.749289631843567,
                "transform": {
                    "location": {
                        "x": 2185.024658203125,
                        "y": 2487.57861328125,
                        "z": 365.0043029785156
                    },
                    "rotation": {
                        "roll": 3.56192140316125e-06,
                        "pitch": 0.39530399441719055,
                        "yaw": 90.16166687011719
                    }
                },
                "velocity": {
                    "x": -0.002551852725446224,
                    "y": 1.7492353916168213,
                    "z": 0.013535765931010246
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.048586130142212,
                "transform": {
                    "location": {
                        "x": 2185.0126953125,
                        "y": 2499.173583984375,
                        "z": 365.0752258300781
                    },
                    "rotation": {
                        "roll": -1.3340379467763341e-08,
                        "pitch": 0.28647860884666443,
                        "yaw": 90.06970977783203
                    }
                },
                "velocity": {
                    "x": -0.002524819690734148,
                    "y": 2.0485610961914062,
                    "z": 0.009815063327550888
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3931541442871094,
                "transform": {
                    "location": {
                        "x": 2185.050537109375,
                        "y": 2462.5869140625,
                        "z": 364.80029296875
                    },
                    "rotation": {
                        "roll": 0.0003892543609254062,
                        "pitch": 0.4795953631401062,
                        "yaw": 90.15471649169922
                    }
                },
                "velocity": {
                    "x": -0.004514796193689108,
                    "y": 3.392987012863159,
                    "z": 0.03338611498475075
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.04111543297767639,
        "expert_target_speed": 2.235334721512465,
        "target_point": [
            8.536077443877337,
            7.181358167562358
        ],
        "target_point_next": [
            13.847590607919301,
            34.67302259592265
        ]
    },
    "345": {
        "acceleration": [
            -0.7797092199325562,
            1.7366886138916016,
            -0.01855926401913166
        ],
        "angular_velocity": [
            0.7469267845153809,
            0.592372715473175,
            8.949967384338379
        ],
        "forward_vector": [
            -0.22173847258090973,
            0.9751061201095581,
            0.0003211498260498047
        ],
        "right_vector": [
            -0.9751056432723999,
            -0.22173869609832764,
            0.000994956586509943
        ],
        "location": [
            2184.716552734375,
            2517.708984375,
            365.13787841796875
        ],
        "rotation": [
            -0.0570068284869194,
            0.0184005293995142,
            102.81116485595703
        ],
        "velocity": [
            -0.5107138752937317,
            1.1858534812927246,
            0.0017672729445621371
        ],
        "speed": 1.2911534151725022,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.8375301361084,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -3.7914960557827726e-05,
                4.708520009444328e-06,
                0.0008330234559252858
            ],
            "speed_kmh": 0.003002036940314639,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002374331234022975,
                "transform": {
                    "location": {
                        "x": 2185.162109375,
                        "y": 2447.98291015625,
                        "z": 364.6385192871094
                    },
                    "rotation": {
                        "roll": 0.0004953268798999488,
                        "pitch": 0.6459036469459534,
                        "yaw": 90.06041717529297
                    }
                },
                "velocity": {
                    "x": 3.827509863185696e-05,
                    "y": -0.00014098428073339164,
                    "z": -0.0023698327131569386
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.2332775592803955,
                "transform": {
                    "location": {
                        "x": 2223.40576171875,
                        "y": 2524.27001953125,
                        "z": 366.14581298828125
                    },
                    "rotation": {
                        "roll": -0.024169916287064552,
                        "pitch": -1.6816402673721313,
                        "yaw": -179.18055725097656
                    }
                },
                "velocity": {
                    "x": -2.2322275638580322,
                    "y": -0.011028283275663853,
                    "z": -0.0675801932811737
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7682873606681824,
                "transform": {
                    "location": {
                        "x": 2187.872314453125,
                        "y": 2561.96923828125,
                        "z": 365.12359619140625
                    },
                    "rotation": {
                        "roll": -0.0007934591849334538,
                        "pitch": 0.16604872047901154,
                        "yaw": -90.286376953125
                    }
                },
                "velocity": {
                    "x": 0.0019466433441266418,
                    "y": -0.7682836651802063,
                    "z": 0.0013852977426722646
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.6170153617858887,
                "transform": {
                    "location": {
                        "x": 2187.810791015625,
                        "y": 2538.95654296875,
                        "z": 365.1589050292969
                    },
                    "rotation": {
                        "roll": 0.03183557838201523,
                        "pitch": 0.3639466166496277,
                        "yaw": -92.35199737548828
                    }
                },
                "velocity": {
                    "x": -0.1546562761068344,
                    "y": -2.612441062927246,
                    "z": -0.0015960597665980458
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5139098167419434,
                "transform": {
                    "location": {
                        "x": 2185.03564453125,
                        "y": 2475.306396484375,
                        "z": 364.9028015136719
                    },
                    "rotation": {
                        "roll": -0.0012511970708146691,
                        "pitch": 0.4869924485683441,
                        "yaw": 90.10283660888672
                    }
                },
                "velocity": {
                    "x": -0.002652818104252219,
                    "y": 1.5138665437698364,
                    "z": 0.011137885972857475
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008338991901837289,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -3.7914960557827726e-05,
                    "y": 4.708520009444328e-06,
                    "z": 0.0008330234559252858
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003266753919888288,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0015399967087432742,
                        "pitch": -1.4078043699264526,
                        "yaw": 179.79534912109375
                    }
                },
                "velocity": {
                    "x": -7.269382331287488e-05,
                    "y": 1.3357531315705273e-05,
                    "z": 0.0003182043437846005
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.03379422426223755,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2550.173828125,
                        "z": 365.1610412597656
                    },
                    "rotation": {
                        "roll": -0.00012207658437546343,
                        "pitch": 0.1286466121673584,
                        "yaw": -89.82231903076172
                    }
                },
                "velocity": {
                    "x": -3.15533579851035e-05,
                    "y": -0.033792536705732346,
                    "z": 0.00033621786860749125
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001036434667184949,
                "transform": {
                    "location": {
                        "x": 2160.79296875,
                        "y": 2527.34814453125,
                        "z": 364.75799560546875
                    },
                    "rotation": {
                        "roll": 0.0011587404878810048,
                        "pitch": 0.3204314708709717,
                        "yaw": -0.01245117001235485
                    }
                },
                "velocity": {
                    "x": -4.967018685420044e-05,
                    "y": -4.245897798682563e-05,
                    "z": 0.0010343727190047503
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.6143949223042e-06,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 3.294534963060869e-06,
                    "y": 3.8284133552224375e-06,
                    "z": 2.4516775738447905e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00044062398956157267,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.3126097655913327e-05,
                    "y": -8.043400157475844e-06,
                    "z": 0.0004403549828566611
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6328123807907104,
                "transform": {
                    "location": {
                        "x": 2147.010498046875,
                        "y": 2527.362060546875,
                        "z": 364.7660827636719
                    },
                    "rotation": {
                        "roll": 0.00030830971081741154,
                        "pitch": -0.11553947627544403,
                        "yaw": 0.09933602809906006
                    }
                },
                "velocity": {
                    "x": 1.6328006982803345,
                    "y": 0.001665291259996593,
                    "z": -0.005958003923296928
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.203552484512329,
                "transform": {
                    "location": {
                        "x": 2185.024658203125,
                        "y": 2488.080810546875,
                        "z": 365.0082092285156
                    },
                    "rotation": {
                        "roll": -9.154211147688329e-05,
                        "pitch": 0.33650973439216614,
                        "yaw": 90.14579010009766
                    }
                },
                "velocity": {
                    "x": -0.0035820992197841406,
                    "y": 2.2035064697265625,
                    "z": 0.013794736936688423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7728960514068604,
                "transform": {
                    "location": {
                        "x": 2185.0126953125,
                        "y": 2499.665283203125,
                        "z": 365.0774230957031
                    },
                    "rotation": {
                        "roll": -0.00027465244056656957,
                        "pitch": 0.3144482374191284,
                        "yaw": 90.07597351074219
                    }
                },
                "velocity": {
                    "x": -0.0032160740811377764,
                    "y": 1.7728676795959473,
                    "z": 0.009501361288130283
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.49175500869751,
                "transform": {
                    "location": {
                        "x": 2185.04833984375,
                        "y": 2463.576904296875,
                        "z": 364.8101806640625
                    },
                    "rotation": {
                        "roll": 0.00014944170834496617,
                        "pitch": 0.4518374800682068,
                        "yaw": 90.12733459472656
                    }
                },
                "velocity": {
                    "x": -0.006011676043272018,
                    "y": 4.491559028625488,
                    "z": 0.04154041036963463
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0013266318710520864,
        "expert_target_speed": 2.2168201806269066,
        "target_point": [
            8.482300587319777,
            6.836951772367787
        ],
        "target_point_next": [
            14.750974405160989,
            34.12628143981975
        ]
    },
    "350": {
        "acceleration": [
            -0.8961284160614014,
            1.5739035606384277,
            0.014104841277003288
        ],
        "angular_velocity": [
            0.36888423562049866,
            0.18819309771060944,
            11.915026664733887
        ],
        "forward_vector": [
            -0.2666237950325012,
            0.963793933391571,
            0.003599755000323057
        ],
        "right_vector": [
            -0.9637943506240845,
            -0.2666337192058563,
            0.0026274549309164286
        ],
        "location": [
            2184.562255859375,
            2518.06787109375,
            365.1378173828125
        ],
        "rotation": [
            -0.1505432277917862,
            0.20625120401382446,
            105.46356201171875
        ],
        "velocity": [
            -0.7818819880485535,
            1.629598617553711,
            0.0023485564161092043
        ],
        "speed": 1.807465379355224,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.50724220275879,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -4.540696681942791e-05,
                -3.356489833095111e-05,
                0.0011768641415983438
            ],
            "speed_kmh": 0.0042415847194759255,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16162109375,
                        "y": 2448.39990234375,
                        "z": 364.6435546875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7292577028274536,
                "transform": {
                    "location": {
                        "x": 2223.1962890625,
                        "y": 2524.26953125,
                        "z": 366.13916015625
                    },
                    "rotation": {
                        "roll": -0.028533928096294403,
                        "pitch": -1.9014835357666016,
                        "yaw": -179.2693328857422
                    }
                },
                "velocity": {
                    "x": -0.7288908362388611,
                    "y": -0.0012329902965575457,
                    "z": -0.02309705689549446
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7200920581817627,
                "transform": {
                    "location": {
                        "x": 2187.87255859375,
                        "y": 2561.654296875,
                        "z": 365.1248779296875
                    },
                    "rotation": {
                        "roll": -0.0020446472335606813,
                        "pitch": 0.3252740800380707,
                        "yaw": -90.25157165527344
                    }
                },
                "velocity": {
                    "x": 0.0021147611550986767,
                    "y": -1.7200809717178345,
                    "z": 0.005804366897791624
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.5078208446502686,
                "transform": {
                    "location": {
                        "x": 2187.763671875,
                        "y": 2538.14697265625,
                        "z": 365.15826416015625
                    },
                    "rotation": {
                        "roll": 0.03351923078298569,
                        "pitch": 0.42101967334747314,
                        "yaw": -92.80625915527344
                    }
                },
                "velocity": {
                    "x": -0.21448273956775665,
                    "y": -3.5012571811676025,
                    "z": -0.001949796685948968
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.010887861251831,
                "transform": {
                    "location": {
                        "x": 2185.035888671875,
                        "y": 2475.74560546875,
                        "z": 364.9065246582031
                    },
                    "rotation": {
                        "roll": 0.0001236413954757154,
                        "pitch": 0.47817468643188477,
                        "yaw": 90.12444305419922
                    }
                },
                "velocity": {
                    "x": -0.003294768277555704,
                    "y": 2.010828971862793,
                    "z": 0.015027523040771484
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011782179353758693,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -4.540696681942791e-05,
                    "y": -3.356489833095111e-05,
                    "z": 0.0011768641415983438
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.887342457659543e-05,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0015399967087432742,
                        "pitch": -1.4078043699264526,
                        "yaw": 179.79534912109375
                    }
                },
                "velocity": {
                    "x": -6.281449896050617e-05,
                    "y": 2.811899094012915e-06,
                    "z": 7.630456821061671e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.022090338170528412,
                "transform": {
                    "location": {
                        "x": 2187.899658203125,
                        "y": 2550.167236328125,
                        "z": 365.1614074707031
                    },
                    "rotation": {
                        "roll": 3.394754457985982e-05,
                        "pitch": 0.0889836996793747,
                        "yaw": -89.82261657714844
                    }
                },
                "velocity": {
                    "x": 0.00011700874165399,
                    "y": -0.022073891013860703,
                    "z": 0.0008442115504294634
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0016092198202386498,
                "transform": {
                    "location": {
                        "x": 2160.79296875,
                        "y": 2527.34814453125,
                        "z": 364.75799560546875
                    },
                    "rotation": {
                        "roll": 0.0011587404878810048,
                        "pitch": 0.3204314708709717,
                        "yaw": -0.01245117001235485
                    }
                },
                "velocity": {
                    "x": -7.071942036418477e-06,
                    "y": -1.4764103070774581e-05,
                    "z": 0.0016091364668682218
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016862894699443132,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 2.0598321498255245e-05,
                    "y": -8.70484745973954e-06,
                    "z": -0.0001671396312303841
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.001434278208762e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 6.2315166360349394e-06,
                    "y": 1.6695921658538282e-05,
                    "z": -6.770836625946686e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.6033194065093994,
                "transform": {
                    "location": {
                        "x": 2147.509765625,
                        "y": 2527.362548828125,
                        "z": 364.7637939453125
                    },
                    "rotation": {
                        "roll": 0.0007031750283204019,
                        "pitch": -0.06634845584630966,
                        "yaw": 0.060825906693935394
                    }
                },
                "velocity": {
                    "x": 1.603306531906128,
                    "y": 0.0011915679788216949,
                    "z": -0.006316719111055136
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.729498267173767,
                "transform": {
                    "location": {
                        "x": 2185.0244140625,
                        "y": 2488.55859375,
                        "z": 365.01068115234375
                    },
                    "rotation": {
                        "roll": 0.0012680713552981615,
                        "pitch": 0.39912208914756775,
                        "yaw": 90.13618469238281
                    }
                },
                "velocity": {
                    "x": -0.0027775929775089025,
                    "y": 1.7294567823410034,
                    "z": 0.01167220063507557
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7389976978302002,
                "transform": {
                    "location": {
                        "x": 2185.0126953125,
                        "y": 2500.083740234375,
                        "z": 365.0796813964844
                    },
                    "rotation": {
                        "roll": -0.0005187948700040579,
                        "pitch": 0.3054528832435608,
                        "yaw": 90.0759048461914
                    }
                },
                "velocity": {
                    "x": -0.0031324976589530706,
                    "y": 1.7389686107635498,
                    "z": 0.009557180106639862
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.891143560409546,
                "transform": {
                    "location": {
                        "x": 2185.046142578125,
                        "y": 2464.682373046875,
                        "z": 364.8195495605469
                    },
                    "rotation": {
                        "roll": 0.001029781880788505,
                        "pitch": 0.5690913200378418,
                        "yaw": 90.10694885253906
                    }
                },
                "velocity": {
                    "x": -0.006186549551784992,
                    "y": 3.8909552097320557,
                    "z": 0.037799786776304245
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07545778900384903,
        "expert_target_speed": 2.6873860169104273,
        "target_point": [
            8.402567250122539,
            6.384075084089222
        ],
        "target_point_next": [
            15.927373135650669,
            33.3540784492815
        ]
    },
    "355": {
        "acceleration": [
            -1.9857406616210938,
            2.0748472213745117,
            -0.019009018316864967
        ],
        "angular_velocity": [
            0.03745158016681671,
            0.20043760538101196,
            16.44071388244629
        ],
        "forward_vector": [
            -0.32605597376823425,
            0.9453364610671997,
            0.005149937234818935
        ],
        "right_vector": [
            -0.9453358054161072,
            -0.3260764181613922,
            0.0037976072635501623
        ],
        "location": [
            2184.324951171875,
            2518.55029296875,
            365.1378173828125
        ],
        "rotation": [
            -0.21759027242660522,
            0.29507097601890564,
            109.02982330322266
        ],
        "velocity": [
            -1.2134720087051392,
            2.1829330921173096,
            -0.0018845367012545466
        ],
        "speed": 2.497541030808448,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.042497634887695,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -4.9642621888779104e-05,
                -3.8158414099598303e-05,
                0.0012346997391432524
            ],
            "speed_kmh": 0.004450630803389836,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.4899999797344208,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.43695068359375
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -0.4899999797344208
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1611328125,
                        "y": 2448.816650390625,
                        "z": 364.6483459472656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8083784580230713,
                "transform": {
                    "location": {
                        "x": 2222.8740234375,
                        "y": 2524.268310546875,
                        "z": 366.129638671875
                    },
                    "rotation": {
                        "roll": -0.020294189453125,
                        "pitch": -1.6611907482147217,
                        "yaw": -179.369384765625
                    }
                },
                "velocity": {
                    "x": -1.8075038194656372,
                    "y": -0.006654968019574881,
                    "z": -0.055841539055109024
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1257545948028564,
                "transform": {
                    "location": {
                        "x": 2187.87255859375,
                        "y": 2561.13427734375,
                        "z": 365.1268005371094
                    },
                    "rotation": {
                        "roll": -0.00115968007594347,
                        "pitch": 0.29550811648368835,
                        "yaw": -90.25782012939453
                    }
                },
                "velocity": {
                    "x": 0.0038777028676122427,
                    "y": -2.1257317066192627,
                    "z": 0.009055795148015022
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.801095485687256,
                "transform": {
                    "location": {
                        "x": 2187.717041015625,
                        "y": 2537.377685546875,
                        "z": 365.1596374511719
                    },
                    "rotation": {
                        "roll": 0.014760970138013363,
                        "pitch": -0.0408923402428627,
                        "yaw": -93.10161590576172
                    }
                },
                "velocity": {
                    "x": -0.17585471272468567,
                    "y": -2.7955691814422607,
                    "z": -0.001945400144904852
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.547366142272949,
                "transform": {
                    "location": {
                        "x": 2185.034912109375,
                        "y": 2476.31787109375,
                        "z": 364.9111328125
                    },
                    "rotation": {
                        "roll": 0.0009425180032849312,
                        "pitch": 0.4719592034816742,
                        "yaw": 90.11742401123047
                    }
                },
                "velocity": {
                    "x": -0.004117879550904036,
                    "y": 2.547288417816162,
                    "z": 0.019461775198578835
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012362863635644317,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -4.9642621888779104e-05,
                    "y": -3.8158414099598303e-05,
                    "z": 0.0012346997391432524
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020655344997067004,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0018474648240953684,
                        "pitch": -1.4075926542282104,
                        "yaw": 179.79522705078125
                    }
                },
                "velocity": {
                    "x": -5.7598499552113935e-05,
                    "y": 2.1847765310667455e-05,
                    "z": 0.00019715327653102577
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5394353866577148,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2550.114990234375,
                        "z": 365.1608581542969
                    },
                    "rotation": {
                        "roll": 0.0008190727094188333,
                        "pitch": 0.17279011011123657,
                        "yaw": -89.85177612304688
                    }
                },
                "velocity": {
                    "x": 0.0014694771962240338,
                    "y": -0.5394307374954224,
                    "z": 0.0016896247398108244
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008699551690369844,
                "transform": {
                    "location": {
                        "x": 2160.79296875,
                        "y": 2527.34814453125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0003018560819327831,
                        "pitch": 0.32320454716682434,
                        "yaw": -0.012390135787427425
                    }
                },
                "velocity": {
                    "x": 4.7548114707751665e-06,
                    "y": -3.3997905120486394e-05,
                    "z": 0.0008692775736562908
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.961643986054696e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021680977661162615,
                        "pitch": 0.22000038623809814,
                        "yaw": -179.79998779296875
                    }
                },
                "velocity": {
                    "x": 1.2622400390682742e-05,
                    "y": 2.0016243070131168e-05,
                    "z": -1.780894490366336e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.921568011515774e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.135863294621231e-05,
                    "y": -1.2008100384264253e-05,
                    "z": 2.4090308215818368e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3294174671173096,
                "transform": {
                    "location": {
                        "x": 2147.685302734375,
                        "y": 2527.362548828125,
                        "z": 364.765625
                    },
                    "rotation": {
                        "roll": -0.000457763671875,
                        "pitch": -0.3865955173969269,
                        "yaw": 0.058416977524757385
                    }
                },
                "velocity": {
                    "x": 1.3294059038162231,
                    "y": 0.000719748146366328,
                    "z": -0.005492496304214001
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1861343383789062,
                "transform": {
                    "location": {
                        "x": 2185.02392578125,
                        "y": 2489.056640625,
                        "z": 365.014404296875
                    },
                    "rotation": {
                        "roll": 0.001010965439490974,
                        "pitch": 0.33762305974960327,
                        "yaw": 90.12936401367188
                    }
                },
                "velocity": {
                    "x": -0.0038491254672408104,
                    "y": 2.186088800430298,
                    "z": 0.013571662828326225
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2437527179718018,
                "transform": {
                    "location": {
                        "x": 2185.011962890625,
                        "y": 2500.583251953125,
                        "z": 365.0828552246094
                    },
                    "rotation": {
                        "roll": 0.0003660988586489111,
                        "pitch": 0.24738261103630066,
                        "yaw": 90.0804214477539
                    }
                },
                "velocity": {
                    "x": -0.003919657785445452,
                    "y": 2.243726968765259,
                    "z": 0.01001132931560278
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.5514111518859863,
                "transform": {
                    "location": {
                        "x": 2185.044921875,
                        "y": 2465.476318359375,
                        "z": 364.82635498046875
                    },
                    "rotation": {
                        "roll": -3.052439569728449e-05,
                        "pitch": 0.6540383696556091,
                        "yaw": 90.10346984863281
                    }
                },
                "velocity": {
                    "x": -0.0035133063793182373,
                    "y": 2.5512940883636475,
                    "z": 0.024181155487895012
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.13272599875926971,
        "expert_target_speed": 3.2975582660310487,
        "target_point": [
            8.249973406738327,
            5.782008124687351
        ],
        "target_point_next": [
            17.437830138462257,
            32.23171651269566
        ]
    },
    "360": {
        "acceleration": [
            0.31320810317993164,
            -0.6044626235961914,
            -0.08008575439453125
        ],
        "angular_velocity": [
            -0.5011290311813354,
            -1.600450038909912,
            12.561310768127441
        ],
        "forward_vector": [
            -0.3871140480041504,
            0.9220272898674011,
            0.0028926092199981213
        ],
        "right_vector": [
            -0.9220299124717712,
            -0.3871177136898041,
            0.0008234456763602793
        ],
        "location": [
            2184.011474609375,
            2519.127197265625,
            365.1379699707031
        ],
        "rotation": [
            -0.047180164605379105,
            0.16573452949523926,
            112.775146484375
        ],
        "velocity": [
            -1.3260493278503418,
            2.271211862564087,
            -0.0032621859572827816
        ],
        "speed": 2.6299829171582414,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.467740058898926,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -8.117019751807675e-05,
                -3.2870102586457506e-05,
                0.0011607512133195996
            ],
            "speed_kmh": 0.0041905800329863525,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2599444389343262,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30078125,
                        "z": 365.05120849609375
                    },
                    "rotation": {
                        "roll": 0.0005920773837715387,
                        "pitch": 0.3656131625175476,
                        "yaw": -89.93965911865234
                    }
                },
                "velocity": {
                    "x": -0.00021331712196115404,
                    "y": -0.008012189529836178,
                    "z": -1.2599189281463623
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00365912145934999,
                "transform": {
                    "location": {
                        "x": 2185.16064453125,
                        "y": 2449.2333984375,
                        "z": 364.6529235839844
                    },
                    "rotation": {
                        "roll": -0.0003967363736592233,
                        "pitch": 0.6449064016342163,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 3.941536306228954e-06,
                    "y": -4.1544211853761226e-05,
                    "z": -0.0036588835064321756
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.065064549446106,
                "transform": {
                    "location": {
                        "x": 2222.378662109375,
                        "y": 2524.26708984375,
                        "z": 366.1142883300781
                    },
                    "rotation": {
                        "roll": -0.0184936486184597,
                        "pitch": -1.7936075925827026,
                        "yaw": -179.52603149414062
                    }
                },
                "velocity": {
                    "x": -1.0645356178283691,
                    "y": -0.0019121670629829168,
                    "z": -0.03350638225674629
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6641550064086914,
                "transform": {
                    "location": {
                        "x": 2187.872802734375,
                        "y": 2560.92529296875,
                        "z": 365.12738037109375
                    },
                    "rotation": {
                        "roll": 0.0023307702504098415,
                        "pitch": 0.06898490339517593,
                        "yaw": -90.27822875976562
                    }
                },
                "velocity": {
                    "x": 0.0018805036088451743,
                    "y": -0.6641484498977661,
                    "z": 0.0022637175861746073
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85974,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.07812237739563,
                "transform": {
                    "location": {
                        "x": 2187.672119140625,
                        "y": 2536.650146484375,
                        "z": 365.1588439941406
                    },
                    "rotation": {
                        "roll": 0.01206335611641407,
                        "pitch": 0.00383856613188982,
                        "yaw": -93.30858612060547
                    }
                },
                "velocity": {
                    "x": -0.19640052318572998,
                    "y": -3.071849822998047,
                    "z": -0.0017832183511927724
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1153922080993652,
                "transform": {
                    "location": {
                        "x": 2185.03271484375,
                        "y": 2477.027099609375,
                        "z": 364.9168395996094
                    },
                    "rotation": {
                        "roll": 0.0007139117806218565,
                        "pitch": 0.4665292203426361,
                        "yaw": 90.10469055175781
                    }
                },
                "velocity": {
                    "x": -0.004182926844805479,
                    "y": 3.115297555923462,
                    "z": 0.02393043413758278
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011640500742942095,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -8.117019751807675e-05,
                    "y": -3.2870102586457506e-05,
                    "z": 0.0011607512133195996
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002176275447709486,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0017785493982955813,
                        "pitch": -1.4077701568603516,
                        "yaw": 179.7952117919922
                    }
                },
                "velocity": {
                    "x": -7.405832002405077e-05,
                    "y": 8.880742825567722e-06,
                    "z": 0.00020444618712645024
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1210663318634033,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2549.894287109375,
                        "z": 365.16064453125
                    },
                    "rotation": {
                        "roll": 0.001186356763355434,
                        "pitch": 0.25423330068588257,
                        "yaw": -89.8873291015625
                    }
                },
                "velocity": {
                    "x": 0.002467998070642352,
                    "y": -1.121062159538269,
                    "z": 0.0018045329488813877
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001232398091815412,
                "transform": {
                    "location": {
                        "x": 2160.79296875,
                        "y": 2527.34814453125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0003018560819327831,
                        "pitch": 0.32320454716682434,
                        "yaw": -0.012390135787427425
                    }
                },
                "velocity": {
                    "x": -4.952296512783505e-05,
                    "y": -3.145928349113092e-05,
                    "z": 0.0012310007587075233
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005213440745137632,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024259400088340044,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": 5.014985617890488e-07,
                    "y": -7.698723493376747e-06,
                    "z": 0.0005212869727984071
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00047873667790554464,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": -3.459155550444848e-06,
                    "y": 4.696813448390458e-06,
                    "z": 0.00047870114212855697
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1830084323883057,
                "transform": {
                    "location": {
                        "x": 2148.160888671875,
                        "y": 2527.362548828125,
                        "z": 364.76031494140625
                    },
                    "rotation": {
                        "roll": 0.002368130022659898,
                        "pitch": 0.03835834190249443,
                        "yaw": 0.05581295117735863
                    }
                },
                "velocity": {
                    "x": 2.1829957962036133,
                    "y": -0.0015450135106220841,
                    "z": -0.007231197319924831
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.715046763420105,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2489.530517578125,
                        "z": 365.0169372558594
                    },
                    "rotation": {
                        "roll": 0.0005869034794159234,
                        "pitch": 0.39826148748397827,
                        "yaw": 90.1260757446289
                    }
                },
                "velocity": {
                    "x": -0.003670291742309928,
                    "y": 1.7150007486343384,
                    "z": 0.012002810835838318
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8644611835479736,
                "transform": {
                    "location": {
                        "x": 2185.01123046875,
                        "y": 2501.093505859375,
                        "z": 365.0847473144531
                    },
                    "rotation": {
                        "roll": 0.00010138713696505874,
                        "pitch": 0.314175009727478,
                        "yaw": 90.08633422851562
                    }
                },
                "velocity": {
                    "x": -0.0037470986135303974,
                    "y": 1.864432454109192,
                    "z": 0.009652567096054554
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00790031161159277,
                "transform": {
                    "location": {
                        "x": 2185.044921875,
                        "y": 2465.901611328125,
                        "z": 364.8296813964844
                    },
                    "rotation": {
                        "roll": 0.0008334062295034528,
                        "pitch": 0.7418268322944641,
                        "yaw": 90.17018127441406
                    }
                },
                "velocity": {
                    "x": 0.00024819240206852555,
                    "y": 0.007863521575927734,
                    "z": 0.0007199649116955698
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.17870469391345978,
        "expert_target_speed": 3.369864670102156,
        "target_point": [
            7.956769617558546,
            5.165049344967594
        ],
        "target_point_next": [
            18.85274776857506,
            30.958099673804867
        ]
    },
    "365": {
        "acceleration": [
            0.23669004440307617,
            -1.0867500305175781,
            -0.04432022571563721
        ],
        "angular_velocity": [
            -1.4897061586380005,
            -0.6866448521614075,
            8.32759952545166
        ],
        "forward_vector": [
            -0.4264247417449951,
            0.9045118689537048,
            -0.0044911946170032024
        ],
        "right_vector": [
            -0.9045199155807495,
            -0.4264310300350189,
            -0.0005035189678892493
        ],
        "location": [
            2183.706298828125,
            2519.670166015625,
            365.1335754394531
        ],
        "rotation": [
            0.028849801048636436,
            -0.2573273479938507,
            115.24115753173828
        ],
        "velocity": [
            -1.2130917310714722,
            2.051029920578003,
            -0.029543809592723846
        ],
        "speed": 2.382921585596175,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.924176216125488,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.896484375,
                2527.32373046875,
                364.8832702636719
            ],
            "velocity": [
                -8.197605347959325e-05,
                -8.336608880199492e-05,
                0.0015054454561322927
            ],
            "speed_kmh": 0.005435923707472627,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.1397206336259842,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30029296875,
                        "z": 364.99639892578125
                    },
                    "rotation": {
                        "roll": 0.00029993406496942043,
                        "pitch": 0.36467742919921875,
                        "yaw": -89.93965911865234
                    }
                },
                "velocity": {
                    "x": 6.4140508584387135e-06,
                    "y": 0.0008943082066252828,
                    "z": 0.13971777260303497
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006233350140973926,
                "transform": {
                    "location": {
                        "x": 2185.160400390625,
                        "y": 2449.650146484375,
                        "z": 364.65765380859375
                    },
                    "rotation": {
                        "roll": 0.001033772132359445,
                        "pitch": 0.6460539102554321,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -0.00011422373790992424,
                    "y": -7.774345431244001e-05,
                    "z": -0.0006078284350223839
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7712022066116333,
                "transform": {
                    "location": {
                        "x": 2222.2900390625,
                        "y": 2524.26708984375,
                        "z": 366.1115417480469
                    },
                    "rotation": {
                        "roll": -0.01754760555922985,
                        "pitch": -1.805205225944519,
                        "yaw": -179.58102416992188
                    }
                },
                "velocity": {
                    "x": -0.7708269953727722,
                    "y": -0.0009898734278976917,
                    "z": -0.024033430963754654
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.5950431823730469,
                "transform": {
                    "location": {
                        "x": 2187.873046875,
                        "y": 2560.62548828125,
                        "z": 365.1287536621094
                    },
                    "rotation": {
                        "roll": -0.0009155365987680852,
                        "pitch": 0.28332990407943726,
                        "yaw": -90.2123031616211
                    }
                },
                "velocity": {
                    "x": 0.0015058346325531602,
                    "y": -1.5950292348861694,
                    "z": 0.006490754894912243
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8106369972229004,
                "transform": {
                    "location": {
                        "x": 2185.030517578125,
                        "y": 2477.891845703125,
                        "z": 364.9234924316406
                    },
                    "rotation": {
                        "roll": 0.0005192986573092639,
                        "pitch": 0.47152209281921387,
                        "yaw": 90.09053039550781
                    }
                },
                "velocity": {
                    "x": -0.004971242509782314,
                    "y": 3.8105123043060303,
                    "z": 0.03042449802160263
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015099787851795554,
                "transform": {
                    "location": {
                        "x": 2170.896484375,
                        "y": 2527.32373046875,
                        "z": 364.8832702636719
                    },
                    "rotation": {
                        "roll": 0.002105392049998045,
                        "pitch": 0.9834242463111877,
                        "yaw": -0.059173572808504105
                    }
                },
                "velocity": {
                    "x": -8.197605347959325e-05,
                    "y": -8.336608880199492e-05,
                    "z": 0.0015054454561322927
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005011200555600226,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0017785493982955813,
                        "pitch": -1.4077701568603516,
                        "yaw": 179.7952117919922
                    }
                },
                "velocity": {
                    "x": -7.319852738874033e-05,
                    "y": 2.42346277445904e-06,
                    "z": 0.0004957392811775208
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3223936557769775,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2549.46826171875,
                        "z": 365.1610107421875
                    },
                    "rotation": {
                        "roll": 0.0003431818331591785,
                        "pitch": 0.30529576539993286,
                        "yaw": -89.83035278320312
                    }
                },
                "velocity": {
                    "x": 0.004711959045380354,
                    "y": -2.3223876953125,
                    "z": 0.0022256087977439165
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00010074616875499487,
                "transform": {
                    "location": {
                        "x": 2160.79296875,
                        "y": 2527.34814453125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0003018560819327831,
                        "pitch": 0.32320454716682434,
                        "yaw": -0.012390135787427425
                    }
                },
                "velocity": {
                    "x": -2.8988717531319708e-05,
                    "y": 2.9900693334639072e-05,
                    "z": 9.173545549856499e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003177131002303213,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024259400088340044,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": 9.270571354136337e-06,
                    "y": 3.714986814884469e-05,
                    "z": -0.00031539745396003127
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020585505990311503,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 8.865185009199195e-06,
                    "y": -6.324545211100485e-06,
                    "z": 0.00020556680101435632
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9403461217880249,
                "transform": {
                    "location": {
                        "x": 2148.3623046875,
                        "y": 2527.36328125,
                        "z": 364.7638244628906
                    },
                    "rotation": {
                        "roll": 0.0010812787804752588,
                        "pitch": -0.48632994294166565,
                        "yaw": -0.01983642391860485
                    }
                },
                "velocity": {
                    "x": 0.9403407573699951,
                    "y": -0.0002461436961311847,
                    "z": -0.0031654643826186657
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1684374809265137,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2490.02392578125,
                        "z": 365.02069091796875
                    },
                    "rotation": {
                        "roll": 0.001076720654964447,
                        "pitch": 0.3385383188724518,
                        "yaw": 90.12565612792969
                    }
                },
                "velocity": {
                    "x": -0.004809864796698093,
                    "y": 2.1683850288391113,
                    "z": 0.014276685193181038
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3115954399108887,
                "transform": {
                    "location": {
                        "x": 2185.010986328125,
                        "y": 2501.59765625,
                        "z": 365.087890625
                    },
                    "rotation": {
                        "roll": 0.0018098991131410003,
                        "pitch": 0.2632696330547333,
                        "yaw": 90.0879135131836
                    }
                },
                "velocity": {
                    "x": -0.00358830438926816,
                    "y": 2.3115646839141846,
                    "z": 0.011382035911083221
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1756469011306763,
                "transform": {
                    "location": {
                        "x": 2185.044921875,
                        "y": 2466.080078125,
                        "z": 364.8332214355469
                    },
                    "rotation": {
                        "roll": -0.0008545020245946944,
                        "pitch": 0.516553521156311,
                        "yaw": 90.17899322509766
                    }
                },
                "velocity": {
                    "x": -0.0016520987264811993,
                    "y": 1.1756036281585693,
                    "z": 0.009950665757060051
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.1633628010749817,
        "expert_target_speed": 3.0924849935415644,
        "target_point": [
            7.550373813411824,
            4.77341229693081
        ],
        "target_point_next": [
            19.54605255586047,
            30.073757682741803
        ]
    },
    "370": {
        "acceleration": [
            -0.12207508087158203,
            -0.5913209915161133,
            0.054339319467544556
        ],
        "angular_velocity": [
            -0.9106125235557556,
            -0.3619656562805176,
            8.597862243652344
        ],
        "forward_vector": [
            -0.4585626721382141,
            0.8886047005653381,
            -0.010094232857227325
        ],
        "right_vector": [
            -0.8886498808860779,
            -0.4585862457752228,
            -2.3543834686279297e-05
        ],
        "location": [
            2183.417236328125,
            2520.1494140625,
            365.12799072265625
        ],
        "rotation": [
            0.0013490311102941632,
            -0.578366756439209,
            117.2958984375
        ],
        "velocity": [
            -1.1962028741836548,
            1.8217283487319946,
            -0.024491628631949425
        ],
        "speed": 2.179356669473594,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.422006607055664,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.90869140625,
                2527.32373046875,
                364.883544921875
            ],
            "velocity": [
                0.11394394934177399,
                5.465049252961762e-05,
                0.002493057167157531
            ],
            "speed_kmh": 0.4102964381805097,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.226152777671814,
                "transform": {
                    "location": {
                        "x": 2187.77880859375,
                        "y": 2576.171142578125,
                        "z": 365.02825927734375
                    },
                    "rotation": {
                        "roll": -0.014587366953492165,
                        "pitch": 0.6768785119056702,
                        "yaw": -89.86666870117188
                    }
                },
                "velocity": {
                    "x": 0.020263181999325752,
                    "y": -1.2221449613571167,
                    "z": 0.09696317464113235
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.15966796875,
                        "y": 2450.483642578125,
                        "z": 364.6678771972656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9133210182189941,
                "transform": {
                    "location": {
                        "x": 2221.95703125,
                        "y": 2524.26708984375,
                        "z": 366.1015930175781
                    },
                    "rotation": {
                        "roll": -0.0125732421875,
                        "pitch": -1.6352496147155762,
                        "yaw": -179.6739959716797
                    }
                },
                "velocity": {
                    "x": -1.9124246835708618,
                    "y": -0.002417338779196143,
                    "z": -0.05850603058934212
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4523532390594482,
                "transform": {
                    "location": {
                        "x": 2187.873046875,
                        "y": 2560.10107421875,
                        "z": 365.1307067871094
                    },
                    "rotation": {
                        "roll": -0.0007629520841874182,
                        "pitch": 0.32145601511001587,
                        "yaw": -90.10943603515625
                    }
                },
                "velocity": {
                    "x": 0.003602925455197692,
                    "y": -2.4523332118988037,
                    "z": 0.009265641681849957
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.456738471984863,
                "transform": {
                    "location": {
                        "x": 2185.028564453125,
                        "y": 2478.94921875,
                        "z": 364.9317932128906
                    },
                    "rotation": {
                        "roll": 0.0008547900943085551,
                        "pitch": 0.4746503233909607,
                        "yaw": 90.07923126220703
                    }
                },
                "velocity": {
                    "x": -0.005205889698117971,
                    "y": 4.456600189208984,
                    "z": 0.03468111902475357
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.11397123336791992,
                "transform": {
                    "location": {
                        "x": 2170.90869140625,
                        "y": 2527.32373046875,
                        "z": 364.883544921875
                    },
                    "rotation": {
                        "roll": 0.0015566269867122173,
                        "pitch": 1.0104923248291016,
                        "yaw": -0.0654602125287056
                    }
                },
                "velocity": {
                    "x": 0.11394394934177399,
                    "y": 5.465049252961762e-05,
                    "z": 0.002493057167157531
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00041668006451800466,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0028666090220212936,
                        "pitch": -1.4080843925476074,
                        "yaw": 179.79502868652344
                    }
                },
                "velocity": {
                    "x": -7.77772074798122e-05,
                    "y": -1.992538273043465e-05,
                    "z": 0.0004088715650141239
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.11961555480957,
                "transform": {
                    "location": {
                        "x": 2187.902099609375,
                        "y": 2548.666259765625,
                        "z": 365.16064453125
                    },
                    "rotation": {
                        "roll": 0.0017434918554499745,
                        "pitch": 0.4734550416469574,
                        "yaw": -89.8510971069336
                    }
                },
                "velocity": {
                    "x": 0.007263115607202053,
                    "y": -4.119606971740723,
                    "z": 0.004410171415656805
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.482873479602858e-05,
                "transform": {
                    "location": {
                        "x": 2160.79296875,
                        "y": 2527.34814453125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0003018560819327831,
                        "pitch": 0.32320454716682434,
                        "yaw": -0.012390135787427425
                    }
                },
                "velocity": {
                    "x": -1.509934645582689e-05,
                    "y": 2.6823774987860816e-06,
                    "z": 7.324038597289473e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.863463593414053e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024259400088340044,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": 1.0678395483409986e-05,
                    "y": 2.059540020127315e-05,
                    "z": 5.384999531088397e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007341061718761921,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.5364437786047347e-05,
                    "y": -7.704767085670028e-06,
                    "z": 0.0007339049479924142
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.159510374069214,
                "transform": {
                    "location": {
                        "x": 2148.75390625,
                        "y": 2527.363037109375,
                        "z": 364.7584533691406
                    },
                    "rotation": {
                        "roll": 0.0006374178919941187,
                        "pitch": -0.014158980920910835,
                        "yaw": 0.0011339802294969559
                    }
                },
                "velocity": {
                    "x": 2.159497022628784,
                    "y": -0.0015751472674310207,
                    "z": -0.007468595169484615
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7030277252197266,
                "transform": {
                    "location": {
                        "x": 2185.021728515625,
                        "y": 2490.494384765625,
                        "z": 365.023193359375
                    },
                    "rotation": {
                        "roll": -0.00015258899657055736,
                        "pitch": 0.3960075080394745,
                        "yaw": 90.12469482421875
                    }
                },
                "velocity": {
                    "x": -0.0038023008964955807,
                    "y": 1.7029974460601807,
                    "z": 0.009409618563950062
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3320319652557373,
                "transform": {
                    "location": {
                        "x": 2185.010986328125,
                        "y": 2502.22021484375,
                        "z": 365.0908508300781
                    },
                    "rotation": {
                        "roll": 0.000893511576578021,
                        "pitch": 0.28251710534095764,
                        "yaw": 90.08699035644531
                    }
                },
                "velocity": {
                    "x": -0.0035854463931173086,
                    "y": 2.331993818283081,
                    "z": 0.012866906821727753
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.074394941329956,
                "transform": {
                    "location": {
                        "x": 2185.044921875,
                        "y": 2466.492431640625,
                        "z": 364.8375244140625
                    },
                    "rotation": {
                        "roll": 0.00031390463118441403,
                        "pitch": 0.4441193640232086,
                        "yaw": 90.16619873046875
                    }
                },
                "velocity": {
                    "x": -0.0025614171754568815,
                    "y": 2.074303150177002,
                    "z": 0.019352616742253304
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.07862246036529541,
        "expert_target_speed": 2.85339477810646,
        "target_point": [
            7.158221523470395,
            4.4625328863894245
        ],
        "target_point_next": [
            20.05330719384649,
            29.31651749021146
        ]
    },
    "375": {
        "acceleration": [
            -1.2737035751342773,
            0.327298641204834,
            -0.019915103912353516
        ],
        "angular_velocity": [
            -0.669857382774353,
            -0.048125963658094406,
            11.960588455200195
        ],
        "forward_vector": [
            -0.49840283393859863,
            0.8668434619903564,
            -0.013304674997925758
        ],
        "right_vector": [
            -0.8669278621673584,
            -0.49843186140060425,
            0.00127074820920825
        ],
        "location": [
            2183.10302734375,
            2520.60107421875,
            365.1224670410156
        ],
        "rotation": [
            -0.07281497120857239,
            -0.7623242139816284,
            119.89730834960938
        ],
        "velocity": [
            -1.4084011316299438,
            1.8136752843856812,
            -0.02585209719836712
        ],
        "speed": 2.296303939980069,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 13.802837371826172,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2171.05029296875,
                2527.32373046875,
                364.8861999511719
            ],
            "velocity": [
                0.916899561882019,
                -0.0011610201327130198,
                0.016950292512774467
            ],
            "speed_kmh": 3.3014050541922884,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.0560781955718994,
                "transform": {
                    "location": {
                        "x": 2187.782958984375,
                        "y": 2575.759765625,
                        "z": 365.0436706542969
                    },
                    "rotation": {
                        "roll": -0.003967242315411568,
                        "pitch": 0.754086971282959,
                        "yaw": -89.69647216796875
                    }
                },
                "velocity": {
                    "x": 0.0202791690826416,
                    "y": -2.0555849075317383,
                    "z": 0.040217284113168716
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.1591796875,
                        "y": 2450.900146484375,
                        "z": 364.6730041503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0903334617614746,
                "transform": {
                    "location": {
                        "x": 2221.453125,
                        "y": 2524.266845703125,
                        "z": 366.0859680175781
                    },
                    "rotation": {
                        "roll": -0.010803221724927425,
                        "pitch": -1.7919546365737915,
                        "yaw": -179.78187561035156
                    }
                },
                "velocity": {
                    "x": -1.0898065567016602,
                    "y": 4.5414788473863155e-05,
                    "z": -0.033893994987010956
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0019471361301839352,
                "transform": {
                    "location": {
                        "x": 2187.873291015625,
                        "y": 2559.72705078125,
                        "z": 365.1315612792969
                    },
                    "rotation": {
                        "roll": 0.0022757810074836016,
                        "pitch": -0.1095835492014885,
                        "yaw": -89.9894027709961
                    }
                },
                "velocity": {
                    "x": 3.4559343475848436e-05,
                    "y": -0.00143231765832752,
                    "z": 0.0013185639400035143
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.7586975097656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 6.14667001741509e-08,
                    "y": -1.351248835046448e-10,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.2351701259613037,
                "transform": {
                    "location": {
                        "x": 2185.026611328125,
                        "y": 2479.917236328125,
                        "z": 364.9396057128906
                    },
                    "rotation": {
                        "roll": 0.0006088096997700632,
                        "pitch": 0.41177159547805786,
                        "yaw": 90.07684326171875
                    }
                },
                "velocity": {
                    "x": -0.004114602226763964,
                    "y": 3.235077381134033,
                    "z": 0.024140825495123863
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9170569777488708,
                "transform": {
                    "location": {
                        "x": 2171.05029296875,
                        "y": 2527.32373046875,
                        "z": 364.8861999511719
                    },
                    "rotation": {
                        "roll": 0.0013674718793481588,
                        "pitch": 1.0981031656265259,
                        "yaw": -0.08953857421875
                    }
                },
                "velocity": {
                    "x": 0.916899561882019,
                    "y": -0.0011610201327130198,
                    "z": 0.016950292512774467
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00024038937408477068,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0028666090220212936,
                        "pitch": -1.4080843925476074,
                        "yaw": 179.79502868652344
                    }
                },
                "velocity": {
                    "x": -5.519047408597544e-05,
                    "y": 2.513157232897356e-05,
                    "z": -0.00023261441674549133
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.3596296310424805,
                "transform": {
                    "location": {
                        "x": 2187.903076171875,
                        "y": 2547.46923828125,
                        "z": 365.16326904296875
                    },
                    "rotation": {
                        "roll": -0.007873544469475746,
                        "pitch": 0.3392554819583893,
                        "yaw": -89.67833709716797
                    }
                },
                "velocity": {
                    "x": 0.01244390569627285,
                    "y": -4.3596086502075195,
                    "z": 0.005407171323895454
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006547230295836926,
                "transform": {
                    "location": {
                        "x": 2160.79296875,
                        "y": 2527.34814453125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0003018560819327831,
                        "pitch": 0.32320454716682434,
                        "yaw": -0.012390135787427425
                    }
                },
                "velocity": {
                    "x": -2.3489221348427236e-05,
                    "y": 5.009111191611737e-05,
                    "z": 0.0006523813353851438
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.676981577882543e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024259400088340044,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": 8.513033208146226e-06,
                    "y": 3.5191089409636334e-05,
                    "z": 6.413649316527881e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00028366525657474995,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 6.717331416439265e-06,
                    "y": 3.984323484473862e-06,
                    "z": 0.0002835577179212123
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.018329370766878128,
                "transform": {
                    "location": {
                        "x": 2149.213623046875,
                        "y": 2527.364013671875,
                        "z": 364.7596435546875
                    },
                    "rotation": {
                        "roll": 0.0012336088111624122,
                        "pitch": -0.3602309823036194,
                        "yaw": -0.128997802734375
                    }
                },
                "velocity": {
                    "x": 0.018258437514305115,
                    "y": 0.0012025817995890975,
                    "z": -0.0010719598503783345
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.383173942565918,
                "transform": {
                    "location": {
                        "x": 2185.02099609375,
                        "y": 2490.993896484375,
                        "z": 365.0268249511719
                    },
                    "rotation": {
                        "roll": 0.0002951034111902118,
                        "pitch": 0.31839609146118164,
                        "yaw": 90.11971282958984
                    }
                },
                "velocity": {
                    "x": -0.005302878096699715,
                    "y": 2.383122682571411,
                    "z": 0.014706754125654697
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7684344053268433,
                "transform": {
                    "location": {
                        "x": 2185.010986328125,
                        "y": 2502.710205078125,
                        "z": 365.0929260253906
                    },
                    "rotation": {
                        "roll": -0.0009765609866008162,
                        "pitch": 0.34200119972229004,
                        "yaw": 90.0879135131836
                    }
                },
                "velocity": {
                    "x": -0.002575184451416135,
                    "y": 1.7684049606323242,
                    "z": 0.009859828278422356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8137812614440918,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2467.011962890625,
                        "z": 364.8416442871094
                    },
                    "rotation": {
                        "roll": 0.0007643198478035629,
                        "pitch": 0.5273998379707336,
                        "yaw": 90.14443969726562
                    }
                },
                "velocity": {
                    "x": -0.0024809560272842646,
                    "y": 1.8136991262435913,
                    "z": 0.01708369143307209
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.059892162680625916,
        "expert_target_speed": 2.8925231162765335,
        "target_point": [
            6.8052176547508925,
            4.085775568478919
        ],
        "target_point_next": [
            20.81507232455493,
            28.32887267393003
        ]
    },
    "380": {
        "acceleration": [
            -1.273179054260254,
            0.33336639404296875,
            -0.0061010196805000305
        ],
        "angular_velocity": [
            0.20016184449195862,
            -1.1587944030761719,
            15.36167049407959
        ],
        "forward_vector": [
            -0.5496490597724915,
            0.8352550864219666,
            -0.015329593792557716
        ],
        "right_vector": [
            -0.8353514075279236,
            -0.5497163534164429,
            -0.0002149161882698536
        ],
        "location": [
            2182.718994140625,
            2521.07470703125,
            365.1162109375
        ],
        "rotation": [
            0.0123152369633317,
            -0.8783554434776306,
            123.34737396240234
        ],
        "velocity": [
            -1.758467674255371,
            1.9131293296813965,
            -0.026125367730855942
        ],
        "speed": 2.598513496883994,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.924981117248535,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2171.40673828125,
                2527.32275390625,
                364.89276123046875
            ],
            "velocity": [
                1.8045039176940918,
                -0.003598627867177129,
                0.032516736537218094
            ],
            "speed_kmh": 6.497281632896287,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.2507941722869873,
                "transform": {
                    "location": {
                        "x": 2187.789306640625,
                        "y": 2575.1015625,
                        "z": 365.05108642578125
                    },
                    "rotation": {
                        "roll": -0.005310005974024534,
                        "pitch": 0.8233792781829834,
                        "yaw": -89.60118865966797
                    }
                },
                "velocity": {
                    "x": 0.033055923879146576,
                    "y": -3.2505135536193848,
                    "z": 0.02705015055835247
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005009968765079975,
                "transform": {
                    "location": {
                        "x": 2185.15869140625,
                        "y": 2451.31689453125,
                        "z": 364.6766052246094
                    },
                    "rotation": {
                        "roll": -0.0003967363736592233,
                        "pitch": 0.6450635194778442,
                        "yaw": 90.0604019165039
                    }
                },
                "velocity": {
                    "x": 0.00030218358733691275,
                    "y": -2.366252192587126e-05,
                    "z": -0.005000791046768427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8166620135307312,
                "transform": {
                    "location": {
                        "x": 2221.363037109375,
                        "y": 2524.266845703125,
                        "z": 366.0832824707031
                    },
                    "rotation": {
                        "roll": -0.01007079891860485,
                        "pitch": -1.7973642349243164,
                        "yaw": -179.7823028564453
                    }
                },
                "velocity": {
                    "x": -0.816303014755249,
                    "y": 0.00011420124064898118,
                    "z": -0.02421191707253456
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.2318768501281738,
                "transform": {
                    "location": {
                        "x": 2187.873291015625,
                        "y": 2559.54052734375,
                        "z": 365.1326599121094
                    },
                    "rotation": {
                        "roll": 0.00014426876441575587,
                        "pitch": 0.21784204244613647,
                        "yaw": -89.98590087890625
                    }
                },
                "velocity": {
                    "x": 0.0016467934474349022,
                    "y": -1.2318737506866455,
                    "z": 0.0021753692999482155
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.11051563173532486,
                "transform": {
                    "location": {
                        "x": 2236.93896484375,
                        "y": 2524.330322265625,
                        "z": 366.5188903808594
                    },
                    "rotation": {
                        "roll": -0.00021362316329032183,
                        "pitch": -1.7690461874008179,
                        "yaw": 179.8741912841797
                    }
                },
                "velocity": {
                    "x": -0.0034347111359238625,
                    "y": -6.371975905494764e-05,
                    "z": 0.11046222597360611
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4087564945220947,
                "transform": {
                    "location": {
                        "x": 2185.02587890625,
                        "y": 2480.546875,
                        "z": 364.9445495605469
                    },
                    "rotation": {
                        "roll": -0.0005798584315925837,
                        "pitch": 0.3801136612892151,
                        "yaw": 90.01154327392578
                    }
                },
                "velocity": {
                    "x": -0.001139023108407855,
                    "y": 1.4087170362472534,
                    "z": 0.010482082143425941
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8048005104064941,
                "transform": {
                    "location": {
                        "x": 2171.40673828125,
                        "y": 2527.32275390625,
                        "z": 364.89276123046875
                    },
                    "rotation": {
                        "roll": -0.0002441407414153218,
                        "pitch": 1.1484347581863403,
                        "yaw": -0.127532958984375
                    }
                },
                "velocity": {
                    "x": 1.8045039176940918,
                    "y": -0.003598627867177129,
                    "z": 0.032516736537218094
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006561994669027627,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0028666090220212936,
                        "pitch": -1.4080843925476074,
                        "yaw": 179.79502868652344
                    }
                },
                "velocity": {
                    "x": -7.625475700479001e-05,
                    "y": 2.4540770027670078e-05,
                    "z": 0.0006512915715575218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.468498945236206,
                "transform": {
                    "location": {
                        "x": 2187.905517578125,
                        "y": 2546.3486328125,
                        "z": 365.1683044433594
                    },
                    "rotation": {
                        "roll": -0.007843016646802425,
                        "pitch": -0.14654169976711273,
                        "yaw": -89.66075897216797
                    }
                },
                "velocity": {
                    "x": 0.008293931372463703,
                    "y": -3.4684884548187256,
                    "z": 0.0020142649300396442
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.010619700886309147,
                "transform": {
                    "location": {
                        "x": 2160.794677734375,
                        "y": 2527.34814453125,
                        "z": 364.7580261230469
                    },
                    "rotation": {
                        "roll": 0.0003920385497622192,
                        "pitch": 0.3266264498233795,
                        "yaw": -0.010498045943677425
                    }
                },
                "velocity": {
                    "x": -0.010613588616251945,
                    "y": 0.00025998777709901333,
                    "z": 0.00024940489674918354
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00038480779039673507,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024259400088340044,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": 7.212348009488778e-06,
                    "y": 4.896140580967767e-06,
                    "z": 0.0003847090410999954
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011903273116331547,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.8110014934791252e-05,
                    "y": 9.037732525030151e-06,
                    "z": 0.0001172993506770581
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.191449522972107,
                "transform": {
                    "location": {
                        "x": 2149.361328125,
                        "y": 2527.36328125,
                        "z": 364.75885009765625
                    },
                    "rotation": {
                        "roll": 0.004186808131635189,
                        "pitch": -0.3562285006046295,
                        "yaw": -0.0827636644244194
                    }
                },
                "velocity": {
                    "x": 1.1914422512054443,
                    "y": -0.0017918898956850171,
                    "z": -0.0037427139468491077
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2774245738983154,
                "transform": {
                    "location": {
                        "x": 2185.01904296875,
                        "y": 2491.7001953125,
                        "z": 365.03167724609375
                    },
                    "rotation": {
                        "roll": 0.0005792519077658653,
                        "pitch": 0.2725040316581726,
                        "yaw": 90.11266326904297
                    }
                },
                "velocity": {
                    "x": -0.004609684459865093,
                    "y": 3.2773635387420654,
                    "z": 0.019452208653092384
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3282699584960938,
                "transform": {
                    "location": {
                        "x": 2185.010498046875,
                        "y": 2503.2197265625,
                        "z": 365.0962829589844
                    },
                    "rotation": {
                        "roll": -0.0013732954394072294,
                        "pitch": 0.2583109140396118,
                        "yaw": 90.08927154541016
                    }
                },
                "velocity": {
                    "x": -0.0035900871735066175,
                    "y": 2.328242540359497,
                    "z": 0.01072549819946289
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.083789825439453,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2467.470458984375,
                        "z": 364.8460388183594
                    },
                    "rotation": {
                        "roll": 0.0013036048039793968,
                        "pitch": 0.5149074196815491,
                        "yaw": 90.13595581054688
                    }
                },
                "velocity": {
                    "x": -0.0028287742752581835,
                    "y": 2.0837090015411377,
                    "z": 0.018133383244276047
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.023049958050251007,
        "expert_target_speed": 3.062943284198872,
        "target_point": [
            21.87537451477516,
            26.964472293965365
        ],
        "target_point_next": [
            21.87537451477516,
            26.964472293965365
        ]
    },
    "385": {
        "acceleration": [
            0.5972838401794434,
            -1.8178606033325195,
            -0.05974669009447098
        ],
        "angular_velocity": [
            -0.29845401644706726,
            -0.6935548782348633,
            16.016691207885742
        ],
        "forward_vector": [
            -0.6070518493652344,
            0.7944312691688538,
            -0.01915862038731575
        ],
        "right_vector": [
            -0.7945264577865601,
            -0.6072173714637756,
            -0.0038487205747514963
        ],
        "location": [
            2182.27734375,
            2521.537353515625,
            365.1103515625
        ],
        "rotation": [
            0.22055646777153015,
            -1.0977752208709717,
            127.38467407226562
        ],
        "velocity": [
            -1.7914282083511353,
            1.6426588296890259,
            -0.034178271889686584
        ],
        "speed": 2.4305437779294325,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.801131248474121,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2171.9931640625,
                2527.32177734375,
                364.90350341796875
            ],
            "velocity": [
                2.9863531589508057,
                -0.005301933269947767,
                0.05382194370031357
            ],
            "speed_kmh": 10.752634194612877,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.625161647796631,
                "transform": {
                    "location": {
                        "x": 2187.79931640625,
                        "y": 2574.103759765625,
                        "z": 365.0577697753906
                    },
                    "rotation": {
                        "roll": -0.004363988526165485,
                        "pitch": 0.9222872257232666,
                        "yaw": -89.50616455078125
                    }
                },
                "velocity": {
                    "x": 0.04856986552476883,
                    "y": -4.624810218811035,
                    "z": 0.029811963438987732
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003993618884123862,
                "transform": {
                    "location": {
                        "x": 2185.157958984375,
                        "y": 2451.733642578125,
                        "z": 364.6808776855469
                    },
                    "rotation": {
                        "roll": -0.0007934955647215247,
                        "pitch": 0.619709849357605,
                        "yaw": 90.0604019165039
                    }
                },
                "velocity": {
                    "x": -0.00012907215568702668,
                    "y": -0.0003612112195696682,
                    "z": -0.0001111609090003185
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7513258457183838,
                "transform": {
                    "location": {
                        "x": 2221.029296875,
                        "y": 2524.26708984375,
                        "z": 366.0736389160156
                    },
                    "rotation": {
                        "roll": -0.005462646484375,
                        "pitch": -1.640891432762146,
                        "yaw": -179.88356018066406
                    }
                },
                "velocity": {
                    "x": -1.7505451440811157,
                    "y": 0.0010228762403130531,
                    "z": -0.052275288850069046
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.11862850189209,
                "transform": {
                    "location": {
                        "x": 2187.87451171875,
                        "y": 2559.123779296875,
                        "z": 365.1340637207031
                    },
                    "rotation": {
                        "roll": -0.001281745615415275,
                        "pitch": 0.30383411049842834,
                        "yaw": -89.97250366210938
                    }
                },
                "velocity": {
                    "x": 0.00525994598865509,
                    "y": -2.118612051010132,
                    "z": 0.006484479643404484
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7850973606109619,
                "transform": {
                    "location": {
                        "x": 2236.90087890625,
                        "y": 2524.32958984375,
                        "z": 366.54974365234375
                    },
                    "rotation": {
                        "roll": -0.006286620628088713,
                        "pitch": -1.6748305559158325,
                        "yaw": 179.91383361816406
                    }
                },
                "velocity": {
                    "x": -0.7832196354866028,
                    "y": -0.010140457190573215,
                    "z": 0.05331062152981758
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.4946672022342682,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2480.620849609375,
                        "z": 364.9450988769531
                    },
                    "rotation": {
                        "roll": -0.0003051644307561219,
                        "pitch": 0.38970324397087097,
                        "yaw": 89.91629028320312
                    }
                },
                "velocity": {
                    "x": 8.97284917300567e-05,
                    "y": 0.4946567118167877,
                    "z": 0.003217525314539671
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9868428707122803,
                "transform": {
                    "location": {
                        "x": 2171.9931640625,
                        "y": 2527.32177734375,
                        "z": 364.90350341796875
                    },
                    "rotation": {
                        "roll": -0.0002441404212731868,
                        "pitch": 1.228511929512024,
                        "yaw": -0.12200924754142761
                    }
                },
                "velocity": {
                    "x": 2.9863531589508057,
                    "y": -0.005301933269947767,
                    "z": 0.05382194370031357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015152522246353328,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0021653547883033752,
                        "pitch": -1.4079272747039795,
                        "yaw": 179.79489135742188
                    }
                },
                "velocity": {
                    "x": -6.844937888672575e-05,
                    "y": -2.4485176254529506e-05,
                    "z": 0.0001329475489910692
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.922836780548096,
                "transform": {
                    "location": {
                        "x": 2187.907958984375,
                        "y": 2545.3134765625,
                        "z": 365.1673278808594
                    },
                    "rotation": {
                        "roll": 0.0029467346612364054,
                        "pitch": 0.06684022396802902,
                        "yaw": -89.7591781616211
                    }
                },
                "velocity": {
                    "x": 0.009121550247073174,
                    "y": -4.92282772064209,
                    "z": 0.0020913504995405674
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6194562911987305,
                "transform": {
                    "location": {
                        "x": 2160.86865234375,
                        "y": 2527.34814453125,
                        "z": 364.75872802734375
                    },
                    "rotation": {
                        "roll": 0.0001444910012651235,
                        "pitch": 0.404087632894516,
                        "yaw": -0.0362548865377903
                    }
                },
                "velocity": {
                    "x": 0.6194392442703247,
                    "y": -0.00037566962419077754,
                    "z": 0.004574012476950884
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005985099705867469,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024259400088340044,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": 8.451565918221604e-06,
                    "y": -8.43963152874494e-06,
                    "z": 0.0005983907612971961
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00037711524055339396,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 8.559785783290863e-06,
                    "y": -4.646874458558159e-06,
                    "z": 0.00037698945379815996
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.348449468612671,
                "transform": {
                    "location": {
                        "x": 2149.816162109375,
                        "y": 2527.362548828125,
                        "z": 364.7535705566406
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": 0.10280799865722656,
                        "yaw": -0.0585937425494194
                    }
                },
                "velocity": {
                    "x": 2.3484320640563965,
                    "y": -0.002594246994704008,
                    "z": -0.008617792278528214
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.399840831756592,
                "transform": {
                    "location": {
                        "x": 2185.01708984375,
                        "y": 2492.665283203125,
                        "z": 365.0379333496094
                    },
                    "rotation": {
                        "roll": 8.204304322134703e-06,
                        "pitch": 0.24335962533950806,
                        "yaw": 90.09856414794922
                    }
                },
                "velocity": {
                    "x": -0.0063800388015806675,
                    "y": 4.399756908416748,
                    "z": 0.026428040117025375
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.195826530456543,
                "transform": {
                    "location": {
                        "x": 2185.00927734375,
                        "y": 2503.817626953125,
                        "z": 365.09893798828125
                    },
                    "rotation": {
                        "roll": -0.00021361956896726042,
                        "pitch": 0.29073381423950195,
                        "yaw": 90.09160614013672
                    }
                },
                "velocity": {
                    "x": -0.00462949788197875,
                    "y": 2.195784091949463,
                    "z": 0.012853726744651794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.793944239616394,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2467.98583984375,
                        "z": 364.8504333496094
                    },
                    "rotation": {
                        "roll": 0.0003825075691565871,
                        "pitch": 0.5398239493370056,
                        "yaw": 90.12134552001953
                    }
                },
                "velocity": {
                    "x": -0.0029651769436895847,
                    "y": 1.7938599586486816,
                    "z": 0.01713256724178791
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.031581979244947433,
        "expert_target_speed": 2.789430004278215,
        "target_point": [
            23.083801390560538,
            25.287364080930015
        ],
        "target_point_next": [
            23.083801390560538,
            25.287364080930015
        ]
    },
    "390": {
        "acceleration": [
            1.4688873291015625,
            -1.5496206283569336,
            0.00099867582321167
        ],
        "angular_velocity": [
            0.5112223625183105,
            -0.8728891611099243,
            13.088523864746094
        ],
        "forward_vector": [
            -0.6559943556785583,
            0.7544830441474915,
            -0.02065773867070675
        ],
        "right_vector": [
            -0.7545390725135803,
            -0.6562224626541138,
            -0.0065502286888659
        ],
        "location": [
            2181.87841796875,
            2521.89990234375,
            365.102294921875
        ],
        "rotation": [
            0.37538325786590576,
            -1.1836854219436646,
            131.00572204589844
        ],
        "velocity": [
            -1.498529314994812,
            1.2090742588043213,
            -0.033212147653102875
        ],
        "speed": 1.9254741419198647,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.477527618408203,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2172.9111328125,
                2527.31591796875,
                364.9201965332031
            ],
            "velocity": [
                3.7955851554870605,
                -0.12936562299728394,
                0.06973414868116379
            ],
            "speed_kmh": 13.67434540482414,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.528865337371826,
                "transform": {
                    "location": {
                        "x": 2187.81298828125,
                        "y": 2572.800048828125,
                        "z": 365.0662841796875
                    },
                    "rotation": {
                        "roll": 0.0010765416081994772,
                        "pitch": 0.8549278974533081,
                        "yaw": -89.48077392578125
                    }
                },
                "velocity": {
                    "x": 0.05790319666266441,
                    "y": -5.5284647941589355,
                    "z": 0.032834749668836594
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00036873892531730235,
                "transform": {
                    "location": {
                        "x": 2185.157470703125,
                        "y": 2452.150146484375,
                        "z": 364.6855773925781
                    },
                    "rotation": {
                        "roll": -9.154588042292744e-05,
                        "pitch": 0.6188902258872986,
                        "yaw": 90.0604248046875
                    }
                },
                "velocity": {
                    "x": -2.920690349128563e-05,
                    "y": -0.0003157418977934867,
                    "z": 0.00018820840341504663
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.341862916946411,
                "transform": {
                    "location": {
                        "x": 2220.478271484375,
                        "y": 2524.267333984375,
                        "z": 366.0572509765625
                    },
                    "rotation": {
                        "roll": -0.005249022971838713,
                        "pitch": -1.6214594841003418,
                        "yaw": -179.94459533691406
                    }
                },
                "velocity": {
                    "x": -2.340827226638794,
                    "y": 0.0025976835750043392,
                    "z": -0.06959258764982224
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0870999097824097,
                "transform": {
                    "location": {
                        "x": 2187.87646484375,
                        "y": 2558.58935546875,
                        "z": 365.135498046875
                    },
                    "rotation": {
                        "roll": 0.0008603390888310969,
                        "pitch": 0.12623554468154907,
                        "yaw": -89.9851303100586
                    }
                },
                "velocity": {
                    "x": 0.004225057549774647,
                    "y": -1.087087631225586,
                    "z": 0.0029627608601003885
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0760629177093506,
                "transform": {
                    "location": {
                        "x": 2236.523681640625,
                        "y": 2524.326416015625,
                        "z": 366.5475769042969
                    },
                    "rotation": {
                        "roll": -0.003967284690588713,
                        "pitch": -1.576441764831543,
                        "yaw": -179.97216796875
                    }
                },
                "velocity": {
                    "x": -2.075446605682373,
                    "y": -0.009214329533278942,
                    "z": -0.049739278852939606
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.9957414865493774,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2480.81201171875,
                        "z": 364.9459533691406
                    },
                    "rotation": {
                        "roll": -0.001953104860149324,
                        "pitch": 0.44045156240463257,
                        "yaw": 89.91851806640625
                    }
                },
                "velocity": {
                    "x": -0.0005784779787063599,
                    "y": 0.9957197308540344,
                    "z": 0.006555099505931139
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.798429250717163,
                "transform": {
                    "location": {
                        "x": 2172.9111328125,
                        "y": 2527.31591796875,
                        "z": 364.9201965332031
                    },
                    "rotation": {
                        "roll": 0.039050959050655365,
                        "pitch": 1.2563176155090332,
                        "yaw": -0.294219970703125
                    }
                },
                "velocity": {
                    "x": 3.7955851554870605,
                    "y": -0.12936562299728394,
                    "z": 0.06973414868116379
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006078501464799047,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0021983562037348747,
                        "pitch": -1.4079272747039795,
                        "yaw": 179.79476928710938
                    }
                },
                "velocity": {
                    "x": -6.609469710383564e-05,
                    "y": 1.3438974747259635e-05,
                    "z": 0.0006040965672582388
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.140768527984619,
                "transform": {
                    "location": {
                        "x": 2187.91064453125,
                        "y": 2544.338134765625,
                        "z": 365.1702575683594
                    },
                    "rotation": {
                        "roll": 0.00020865599799435586,
                        "pitch": -0.23285479843616486,
                        "yaw": -89.82234954833984
                    }
                },
                "velocity": {
                    "x": 0.004428389482200146,
                    "y": -3.1407649517059326,
                    "z": 0.0018198585603386164
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4595072269439697,
                "transform": {
                    "location": {
                        "x": 2161.142333984375,
                        "y": 2527.347412109375,
                        "z": 364.7609558105469
                    },
                    "rotation": {
                        "roll": 0.000423309305915609,
                        "pitch": 0.4845062792301178,
                        "yaw": -0.0767822116613388
                    }
                },
                "velocity": {
                    "x": 1.4594669342041016,
                    "y": -0.002780111040920019,
                    "z": 0.010479488410055637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.553305446577724e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024259400088340044,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": 8.057020750129595e-06,
                    "y": -8.350038456228503e-07,
                    "z": 1.3253790712042246e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0795298294397071e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 4.692971742770169e-06,
                    "y": -7.77410423324909e-06,
                    "z": 5.83761766392854e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0062747434712946415,
                "transform": {
                    "location": {
                        "x": 2150.14111328125,
                        "y": 2527.361083984375,
                        "z": 364.7579345703125
                    },
                    "rotation": {
                        "roll": -0.0006713866023346782,
                        "pitch": -0.5821847915649414,
                        "yaw": 0.010666437447071075
                    }
                },
                "velocity": {
                    "x": 0.0060945963487029076,
                    "y": -0.00021142535842955112,
                    "z": -0.0014777003088966012
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8116695880889893,
                "transform": {
                    "location": {
                        "x": 2185.014892578125,
                        "y": 2493.749267578125,
                        "z": 365.04351806640625
                    },
                    "rotation": {
                        "roll": -0.0003051904495805502,
                        "pitch": 0.3715554475784302,
                        "yaw": 90.09037780761719
                    }
                },
                "velocity": {
                    "x": -0.006240138318389654,
                    "y": 3.811591625213623,
                    "z": 0.02356633171439171
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.183839797973633,
                "transform": {
                    "location": {
                        "x": 2185.008544921875,
                        "y": 2504.335205078125,
                        "z": 365.1016845703125
                    },
                    "rotation": {
                        "roll": 7.067742990329862e-05,
                        "pitch": 0.30203777551651,
                        "yaw": 90.09393310546875
                    }
                },
                "velocity": {
                    "x": -0.0035613980144262314,
                    "y": 2.183811902999878,
                    "z": 0.010452785529196262
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0633392333984375,
                "transform": {
                    "location": {
                        "x": 2185.044677734375,
                        "y": 2468.44091796875,
                        "z": 364.8549499511719
                    },
                    "rotation": {
                        "roll": 0.00031686952570453286,
                        "pitch": 0.5147913098335266,
                        "yaw": 90.12043762207031
                    }
                },
                "velocity": {
                    "x": -0.0029648190829902887,
                    "y": 2.0632505416870117,
                    "z": 0.018908632919192314
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.05798191949725151,
        "expert_target_speed": 0,
        "target_point": [
            24.099440655449182,
            23.715817034380983
        ],
        "target_point_next": [
            24.099440655449182,
            23.715817034380983
        ]
    },
    "395": {
        "acceleration": [
            0.03516674041748047,
            -0.7616841793060303,
            0.009338781237602234
        ],
        "angular_velocity": [
            0.08400876075029373,
            0.35919663310050964,
            11.28321647644043
        ],
        "forward_vector": [
            -0.6942425966262817,
            0.7194475531578064,
            -0.02055381052196026
        ],
        "right_vector": [
            -0.7194628715515137,
            -0.6944851279258728,
            -0.007970167323946953
        ],
        "location": [
            2181.54150390625,
            2522.170654296875,
            365.0938720703125
        ],
        "rotation": [
            0.4567582607269287,
            -1.1777294874191284,
            133.97857666015625
        ],
        "velocity": [
            -1.3219151496887207,
            0.9421834945678711,
            -0.03256295621395111
        ],
        "speed": 1.6233204860447854,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.322881698608398,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2173.735595703125,
                2527.265625,
                364.9351806640625
            ],
            "velocity": [
                2.9720568656921387,
                -0.20696385204792023,
                0.059057433158159256
            ],
            "speed_kmh": 10.727422431725193,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.591136932373047,
                "transform": {
                    "location": {
                        "x": 2187.82861328125,
                        "y": 2571.354248046875,
                        "z": 365.07476806640625
                    },
                    "rotation": {
                        "roll": 4.0744736907072365e-05,
                        "pitch": 0.7753357291221619,
                        "yaw": -89.43621063232422
                    }
                },
                "velocity": {
                    "x": 0.07116764038801193,
                    "y": -6.5906572341918945,
                    "z": 0.03541046008467674
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017435880145058036,
                "transform": {
                    "location": {
                        "x": 2185.156982421875,
                        "y": 2452.5673828125,
                        "z": 364.6902770996094
                    },
                    "rotation": {
                        "roll": 0.00013453034625854343,
                        "pitch": 0.6111174821853638,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 3.9482190913986415e-05,
                    "y": -0.00026612295187078416,
                    "z": -0.00172270683106035
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0020285523496568203,
                "transform": {
                    "location": {
                        "x": 2220.242919921875,
                        "y": 2524.267822265625,
                        "z": 366.0498046875
                    },
                    "rotation": {
                        "roll": -0.006835937034338713,
                        "pitch": -1.9819841384887695,
                        "yaw": -179.96800231933594
                    }
                },
                "velocity": {
                    "x": 0.0017427986022084951,
                    "y": -0.00021380692487582564,
                    "z": -0.0010158565128222108
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.788788914680481,
                "transform": {
                    "location": {
                        "x": 2187.87646484375,
                        "y": 2558.501220703125,
                        "z": 365.13580322265625
                    },
                    "rotation": {
                        "roll": -9.155413135886192e-05,
                        "pitch": 0.13428151607513428,
                        "yaw": -89.99368286132812
                    }
                },
                "velocity": {
                    "x": 0.002608533250167966,
                    "y": -0.7887783646583557,
                    "z": 0.0031431769020855427
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.5559020042419434,
                "transform": {
                    "location": {
                        "x": 2235.8212890625,
                        "y": 2524.32275390625,
                        "z": 366.52764892578125
                    },
                    "rotation": {
                        "roll": -0.010498045943677425,
                        "pitch": -1.5404329299926758,
                        "yaw": -179.8740692138672
                    }
                },
                "velocity": {
                    "x": -3.5542750358581543,
                    "y": -0.01969025656580925,
                    "z": -0.10573887825012207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.5198861360549927,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2481.135009765625,
                        "z": 364.94830322265625
                    },
                    "rotation": {
                        "roll": 0.00012885693286079913,
                        "pitch": 0.44080671668052673,
                        "yaw": 89.91448211669922
                    }
                },
                "velocity": {
                    "x": -0.0006690601585432887,
                    "y": 1.5198476314544678,
                    "z": 0.010798558592796326
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.979839563369751,
                "transform": {
                    "location": {
                        "x": 2173.735595703125,
                        "y": 2527.265625,
                        "z": 364.9351806640625
                    },
                    "rotation": {
                        "roll": 0.011992745101451874,
                        "pitch": 1.0852622985839844,
                        "yaw": -1.9883121252059937
                    }
                },
                "velocity": {
                    "x": 2.9720568656921387,
                    "y": -0.20696385204792023,
                    "z": 0.059057433158159256
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000609343871474266,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0021983562037348747,
                        "pitch": -1.4079272747039795,
                        "yaw": 179.79476928710938
                    }
                },
                "velocity": {
                    "x": -7.583051774417982e-05,
                    "y": -2.4586197469034232e-05,
                    "z": 0.0006041069282218814
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.730001926422119,
                "transform": {
                    "location": {
                        "x": 2187.912841796875,
                        "y": 2543.3583984375,
                        "z": 365.16741943359375
                    },
                    "rotation": {
                        "roll": 0.0012868840713053942,
                        "pitch": 0.19104038178920746,
                        "yaw": -89.8663330078125
                    }
                },
                "velocity": {
                    "x": 0.005726126488298178,
                    "y": -4.7299981117248535,
                    "z": 0.0018546008504927158
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4951725006103516,
                "transform": {
                    "location": {
                        "x": 2161.62939453125,
                        "y": 2527.346435546875,
                        "z": 364.7647705078125
                    },
                    "rotation": {
                        "roll": 0.0007437674794346094,
                        "pitch": 0.5776017308235168,
                        "yaw": -0.0975341722369194
                    }
                },
                "velocity": {
                    "x": 2.4950990676879883,
                    "y": -0.004993448033928871,
                    "z": 0.018505925312638283
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0260948076611385e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024259400088340044,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": 7.362812539213337e-06,
                    "y": -7.038177955109859e-06,
                    "z": -1.751453964971006e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015144921781029552,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.2647918993025087e-05,
                    "y": 5.0730141083477065e-06,
                    "z": 0.00015083487960509956
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.3850436210632324,
                "transform": {
                    "location": {
                        "x": 2150.35546875,
                        "y": 2527.361083984375,
                        "z": 364.7540588378906
                    },
                    "rotation": {
                        "roll": -0.0009765624417923391,
                        "pitch": -0.21078646183013916,
                        "yaw": -0.0015258790226653218
                    }
                },
                "velocity": {
                    "x": 1.3850421905517578,
                    "y": -0.000717498769517988,
                    "z": -0.0018299674848094583
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.493685007095337,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2494.526123046875,
                        "z": 365.0474548339844
                    },
                    "rotation": {
                        "roll": -0.0011901730904355645,
                        "pitch": 0.46658384799957275,
                        "yaw": 90.09063720703125
                    }
                },
                "velocity": {
                    "x": -0.0036998928990215063,
                    "y": 2.4936363697052,
                    "z": 0.015129555948078632
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8192917108535767,
                "transform": {
                    "location": {
                        "x": 2185.008544921875,
                        "y": 2504.85693359375,
                        "z": 365.10406494140625
                    },
                    "rotation": {
                        "roll": 6.991713598836213e-05,
                        "pitch": 0.31896981596946716,
                        "yaw": 90.0940933227539
                    }
                },
                "velocity": {
                    "x": -0.0030176080763339996,
                    "y": 1.819263219833374,
                    "z": 0.0097307488322258
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7776780128479004,
                "transform": {
                    "location": {
                        "x": 2185.04443359375,
                        "y": 2468.951904296875,
                        "z": 364.8591613769531
                    },
                    "rotation": {
                        "roll": -6.10474671702832e-05,
                        "pitch": 0.5345442295074463,
                        "yaw": 90.11400604248047
                    }
                },
                "velocity": {
                    "x": -0.0026805540546774864,
                    "y": 1.777600646018982,
                    "z": 0.01637447252869606
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04246816784143448,
        "expert_target_speed": 1.8411509124297782,
        "target_point": [
            24.868210354732433,
            22.37958252189369
        ],
        "target_point_next": [
            24.868210354732433,
            22.37958252189369
        ]
    },
    "400": {
        "acceleration": [
            -0.3475165367126465,
            0.23078680038452148,
            -0.002763792872428894
        ],
        "angular_velocity": [
            0.3861787021160126,
            0.28310832381248474,
            10.082754135131836
        ],
        "forward_vector": [
            -0.7263975739479065,
            0.6870227456092834,
            -0.01860963925719261
        ],
        "right_vector": [
            -0.687012255191803,
            -0.7266021370887756,
            -0.007959811948239803
        ],
        "location": [
            2181.214111328125,
            2522.408935546875,
            365.0855712890625
        ],
        "rotation": [
            0.4561474323272705,
            -1.0663154125213623,
            136.59571838378906
        ],
        "velocity": [
            -1.3755722045898438,
            0.9237173795700073,
            -0.03321133926510811
        ],
        "speed": 1.6569407615723153,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.235506057739258,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2174.52099609375,
                2527.20556640625,
                364.9510498046875
            ],
            "velocity": [
                3.350802421569824,
                -0.26436442136764526,
                0.06614898890256882
            ],
            "speed_kmh": 12.102716584024945,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 6.970961570739746,
                "transform": {
                    "location": {
                        "x": 2187.84375,
                        "y": 2569.593505859375,
                        "z": 365.0846862792969
                    },
                    "rotation": {
                        "roll": 0.023310095071792603,
                        "pitch": 0.6534509658813477,
                        "yaw": -89.54763793945312
                    }
                },
                "velocity": {
                    "x": 0.04709385707974434,
                    "y": -6.970705986022949,
                    "z": 0.036749713122844696
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014524062862619758,
                "transform": {
                    "location": {
                        "x": 2185.156982421875,
                        "y": 2452.5673828125,
                        "z": 364.6903381347656
                    },
                    "rotation": {
                        "roll": -0.00036621122853830457,
                        "pitch": 0.6337868571281433,
                        "yaw": 90.0604476928711
                    }
                },
                "velocity": {
                    "x": 5.168126881471835e-05,
                    "y": -0.00015739641094114631,
                    "z": 0.0014429274015128613
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012529080267995596,
                "transform": {
                    "location": {
                        "x": 2220.2412109375,
                        "y": 2524.267822265625,
                        "z": 366.04998779296875
                    },
                    "rotation": {
                        "roll": -0.004516600631177425,
                        "pitch": -1.7843321561813354,
                        "yaw": -179.96817016601562
                    }
                },
                "velocity": {
                    "x": 0.000861382344737649,
                    "y": -0.0001793903938960284,
                    "z": -0.0008919742540456355
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6204721927642822,
                "transform": {
                    "location": {
                        "x": 2187.877197265625,
                        "y": 2558.190673828125,
                        "z": 365.1369934082031
                    },
                    "rotation": {
                        "roll": -0.0006408714689314365,
                        "pitch": 0.2797030508518219,
                        "yaw": -89.94204711914062
                    }
                },
                "velocity": {
                    "x": 0.004537948407232761,
                    "y": -1.6204571723937988,
                    "z": 0.0053374576382339
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.041112899780273,
                "transform": {
                    "location": {
                        "x": 2234.734619140625,
                        "y": 2524.31591796875,
                        "z": 366.49462890625
                    },
                    "rotation": {
                        "roll": -0.0165710411965847,
                        "pitch": -1.52776300907135,
                        "yaw": -179.72747802734375
                    }
                },
                "velocity": {
                    "x": -5.038665294647217,
                    "y": -0.032807569950819016,
                    "z": -0.15360157191753387
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.0433311462402344,
                "transform": {
                    "location": {
                        "x": 2185.025146484375,
                        "y": 2481.58056640625,
                        "z": 364.9517517089844
                    },
                    "rotation": {
                        "roll": -0.0008544782758690417,
                        "pitch": 0.43254902958869934,
                        "yaw": 89.93912506103516
                    }
                },
                "velocity": {
                    "x": -0.0014778063632547855,
                    "y": 2.0432791709899902,
                    "z": 0.014490651898086071
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.361865520477295,
                "transform": {
                    "location": {
                        "x": 2174.52099609375,
                        "y": 2527.20556640625,
                        "z": 364.9510498046875
                    },
                    "rotation": {
                        "roll": -0.0326232947409153,
                        "pitch": 1.174662709236145,
                        "yaw": -3.1317451000213623
                    }
                },
                "velocity": {
                    "x": 3.350802421569824,
                    "y": -0.26436442136764526,
                    "z": 0.06614898890256882
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.962349238572642e-05,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.0028177322819828987,
                        "pitch": -1.4072511196136475,
                        "yaw": 179.79466247558594
                    }
                },
                "velocity": {
                    "x": -4.016637831227854e-05,
                    "y": -9.17733177629998e-06,
                    "z": -7.959151116665453e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9971630573272705,
                "transform": {
                    "location": {
                        "x": 2187.9150390625,
                        "y": 2542.2333984375,
                        "z": 365.1685791015625
                    },
                    "rotation": {
                        "roll": 0.0006103785126470029,
                        "pitch": 0.06826090812683105,
                        "yaw": -89.9026107788086
                    }
                },
                "velocity": {
                    "x": 0.0036908334586769342,
                    "y": -3.9971611499786377,
                    "z": 0.0012658500345423818
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.089443683624268,
                "transform": {
                    "location": {
                        "x": 2162.46044921875,
                        "y": 2527.3447265625,
                        "z": 364.7713317871094
                    },
                    "rotation": {
                        "roll": 3.335275687277317e-05,
                        "pitch": 0.7557057738304138,
                        "yaw": -0.1016845554113388
                    }
                },
                "velocity": {
                    "x": 4.089320182800293,
                    "y": -0.008344721980392933,
                    "z": 0.03065652772784233
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.423348567186622e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024259400088340044,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": 9.095035238715354e-06,
                    "y": 1.084152336261468e-05,
                    "z": 1.5276808653652552e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.113186125527136e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.1837742931675166e-05,
                    "y": -2.2159210857353173e-05,
                    "z": -4.453430665307678e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5136709213256836,
                "transform": {
                    "location": {
                        "x": 2150.847412109375,
                        "y": 2527.361572265625,
                        "z": 364.75030517578125
                    },
                    "rotation": {
                        "roll": 0.0016413326375186443,
                        "pitch": 0.13995739817619324,
                        "yaw": -0.0648803636431694
                    }
                },
                "velocity": {
                    "x": 2.513667583465576,
                    "y": -0.002835324965417385,
                    "z": -0.0028069305699318647
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0012013086816295981,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2494.90673828125,
                        "z": 365.0488586425781
                    },
                    "rotation": {
                        "roll": 0.0006062642205506563,
                        "pitch": 0.5850124955177307,
                        "yaw": 90.13558197021484
                    }
                },
                "velocity": {
                    "x": 0.0001052150473697111,
                    "y": 0.0008042070548981428,
                    "z": 0.0008861846872605383
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0361621379852295,
                "transform": {
                    "location": {
                        "x": 2185.0078125,
                        "y": 2505.3193359375,
                        "z": 365.10662841796875
                    },
                    "rotation": {
                        "roll": -0.00015258719213306904,
                        "pitch": 0.28139013051986694,
                        "yaw": 90.09558868408203
                    }
                },
                "velocity": {
                    "x": -0.0031167662236839533,
                    "y": 2.036141872406006,
                    "z": 0.008573932573199272
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.03373646736145,
                "transform": {
                    "location": {
                        "x": 2185.04443359375,
                        "y": 2469.401611328125,
                        "z": 364.8634033203125
                    },
                    "rotation": {
                        "roll": 0.000866693677380681,
                        "pitch": 0.5036649703979492,
                        "yaw": 90.10713958740234
                    }
                },
                "velocity": {
                    "x": -0.0038783035706728697,
                    "y": 2.0336568355560303,
                    "z": 0.017560338601469994
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.46204137802124023,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.04536711052060127,
        "expert_target_speed": 1.7211091762777289,
        "target_point": [
            25.462561820193844,
            21.16887711088335
        ],
        "target_point_next": [
            25.462561820193844,
            21.16887711088335
        ]
    },
    "405": {
        "acceleration": [
            -1.04522705078125,
            -0.0047528743743896484,
            -0.014848560094833374
        ],
        "angular_velocity": [
            -0.07667404413223267,
            0.4360533058643341,
            11.430353164672852
        ],
        "forward_vector": [
            -0.7577234506607056,
            0.6523550152778625,
            -0.016972558572888374
        ],
        "right_vector": [
            -0.6523364186286926,
            -0.7578936815261841,
            -0.007372919004410505
        ],
        "location": [
            2180.8515625,
            2522.651611328125,
            365.0769348144531
        ],
        "rotation": [
            0.4225018322467804,
            -0.9725027680397034,
            139.27349853515625
        ],
        "velocity": [
            -1.5746021270751953,
            0.9511163234710693,
            -0.03378065675497055
        ],
        "speed": 1.839563567633055,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.163838863372803,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2175.271484375,
                2527.142822265625,
                364.9658508300781
            ],
            "velocity": [
                2.7325282096862793,
                -0.23473675549030304,
                0.05488649383187294
            ],
            "speed_kmh": 9.87530874335364,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 364.99920654296875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 3.739279270172119,
                "transform": {
                    "location": {
                        "x": 2187.853271484375,
                        "y": 2568.124267578125,
                        "z": 365.09564208984375
                    },
                    "rotation": {
                        "roll": 0.008640320971608162,
                        "pitch": -0.3327326476573944,
                        "yaw": -89.53520965576172
                    }
                },
                "velocity": {
                    "x": 0.024741200730204582,
                    "y": -3.739166498184204,
                    "z": 0.015218458138406277
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021569638920482248,
                "transform": {
                    "location": {
                        "x": 2185.15673828125,
                        "y": 2452.984130859375,
                        "z": 364.6949157714844
                    },
                    "rotation": {
                        "roll": -0.0003967345110140741,
                        "pitch": 0.6205499768257141,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": -3.8378195313271135e-05,
                    "y": -0.00018917970010079443,
                    "z": -9.624494850868359e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00035193274379707873,
                "transform": {
                    "location": {
                        "x": 2220.240966796875,
                        "y": 2524.267822265625,
                        "z": 366.0500793457031
                    },
                    "rotation": {
                        "roll": -0.004821775946766138,
                        "pitch": -1.7351001501083374,
                        "yaw": -179.96824645996094
                    }
                },
                "velocity": {
                    "x": 0.00019391805108170956,
                    "y": -0.00018064925097860396,
                    "z": -0.0002315562596777454
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.8212509155273438,
                "transform": {
                    "location": {
                        "x": 2187.87939453125,
                        "y": 2557.642333984375,
                        "z": 365.1388854980469
                    },
                    "rotation": {
                        "roll": 0.0004906622343696654,
                        "pitch": 0.35130393505096436,
                        "yaw": -89.87997436523438
                    }
                },
                "velocity": {
                    "x": 0.009025308303534985,
                    "y": -2.82122540473938,
                    "z": 0.007902412675321102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.803271770477295,
                "transform": {
                    "location": {
                        "x": 2233.359130859375,
                        "y": 2524.306396484375,
                        "z": 366.4527282714844
                    },
                    "rotation": {
                        "roll": -0.0170898400247097,
                        "pitch": -1.6156879663467407,
                        "yaw": -179.64901733398438
                    }
                },
                "velocity": {
                    "x": -5.800400257110596,
                    "y": -0.0416148379445076,
                    "z": -0.17773616313934326
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 2.5814619064331055,
                "transform": {
                    "location": {
                        "x": 2185.025634765625,
                        "y": 2482.161376953125,
                        "z": 364.9560852050781
                    },
                    "rotation": {
                        "roll": -0.0006103450432419777,
                        "pitch": 0.42750152945518494,
                        "yaw": 89.96814727783203
                    }
                },
                "velocity": {
                    "x": -0.0019103903323411942,
                    "y": 2.5813992023468018,
                    "z": 0.01787293329834938
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.7431414127349854,
                "transform": {
                    "location": {
                        "x": 2175.271484375,
                        "y": 2527.142822265625,
                        "z": 364.9658508300781
                    },
                    "rotation": {
                        "roll": -0.065673828125,
                        "pitch": 1.0838689804077148,
                        "yaw": -3.9173600673675537
                    }
                },
                "velocity": {
                    "x": 2.7325282096862793,
                    "y": -0.23473675549030304,
                    "z": 0.05488649383187294
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00043083232594653964,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.001839719363488257,
                        "pitch": -1.4075584411621094,
                        "yaw": 179.7946319580078
                    }
                },
                "velocity": {
                    "x": -6.967127410462126e-05,
                    "y": -4.087927209184272e-06,
                    "z": 0.0004251419741194695
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.431727647781372,
                "transform": {
                    "location": {
                        "x": 2187.9150390625,
                        "y": 2541.343505859375,
                        "z": 365.1708984375
                    },
                    "rotation": {
                        "roll": -3.0509287171298638e-05,
                        "pitch": -0.21801279485225677,
                        "yaw": -89.91619873046875
                    }
                },
                "velocity": {
                    "x": 0.0034567953553050756,
                    "y": -3.4317257404327393,
                    "z": -0.00012627601972781122
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.111547946929932,
                "transform": {
                    "location": {
                        "x": 2163.65380859375,
                        "y": 2527.342529296875,
                        "z": 364.7810974121094
                    },
                    "rotation": {
                        "roll": 0.0010262017603963614,
                        "pitch": 0.8393141031265259,
                        "yaw": -0.106689453125
                    }
                },
                "velocity": {
                    "x": 5.111278057098389,
                    "y": -0.010520515963435173,
                    "z": 0.05142708495259285
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019482649804558605,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024259400088340044,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": 3.5236403164162766e-06,
                    "y": 1.0149979061679915e-05,
                    "z": -0.0001945300173247233
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.521378453617217e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 8.400641490879934e-06,
                    "y": -2.026971941404554e-07,
                    "z": 1.2682561646215618e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.6587557792663574,
                "transform": {
                    "location": {
                        "x": 2151.182861328125,
                        "y": 2527.35986328125,
                        "z": 364.75531005859375
                    },
                    "rotation": {
                        "roll": -0.006652831565588713,
                        "pitch": -0.5339021682739258,
                        "yaw": 0.08650603890419006
                    }
                },
                "velocity": {
                    "x": 0.6587530374526978,
                    "y": 0.0005704305367544293,
                    "z": -0.0018154715653508902
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1466461420059204,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2495.06884765625,
                        "z": 365.0519104003906
                    },
                    "rotation": {
                        "roll": 0.0004764404147863388,
                        "pitch": 0.3337230384349823,
                        "yaw": 90.12010955810547
                    }
                },
                "velocity": {
                    "x": -0.001990625401958823,
                    "y": 1.1466279029846191,
                    "z": 0.006153125781565905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8249574899673462,
                "transform": {
                    "location": {
                        "x": 2185.0068359375,
                        "y": 2505.798095703125,
                        "z": 365.1084289550781
                    },
                    "rotation": {
                        "roll": 0.00020242678874637932,
                        "pitch": 0.27988746762275696,
                        "yaw": 90.09986114501953
                    }
                },
                "velocity": {
                    "x": -0.003822210244834423,
                    "y": 1.8249448537826538,
                    "z": 0.005618619732558727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7591062784194946,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2469.90673828125,
                        "z": 364.8675842285156
                    },
                    "rotation": {
                        "roll": 0.001816905103623867,
                        "pitch": 0.520105242729187,
                        "yaw": 90.10625457763672
                    }
                },
                "velocity": {
                    "x": -0.0032662462908774614,
                    "y": 1.759026050567627,
                    "z": 0.016476469114422798
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": -0.01738857291638851,
        "expert_target_speed": 1.663345425521858,
        "target_point": [
            25.990657429418707,
            19.903546328621236
        ],
        "target_point_next": [
            25.990657429418707,
            19.903546328621236
        ]
    },
    "410": {
        "acceleration": [
            0.8520054817199707,
            -0.6585526466369629,
            0.016076043248176575
        ],
        "angular_velocity": [
            0.1268107295036316,
            -0.6420177221298218,
            11.302839279174805
        ],
        "forward_vector": [
            -0.7896404266357422,
            0.6133305430412292,
            -0.017139310017228127
        ],
        "right_vector": [
            -0.6133018136024475,
            -0.7898130416870117,
            -0.007497131824493408
        ],
        "location": [
            2180.44873046875,
            2522.895263671875,
            365.0680236816406
        ],
        "rotation": [
            0.4296211302280426,
            -0.9820582270622253,
            142.16275024414062
        ],
        "velocity": [
            -1.6174837350845337,
            0.8798213005065918,
            -0.03617164120078087
        ],
        "speed": 1.8412873632565137,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.116371154785156,
        "front_vehicle_info": {
            "id": 85972,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2175.988037109375,
                2527.0791015625,
                364.9801940917969
            ],
            "velocity": [
                3.0130484104156494,
                -0.27209776639938354,
                0.05994115769863129
            ],
            "speed_kmh": 10.893251927245958,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.10896577686071396,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.7494812011719
                    },
                    "rotation": {
                        "roll": 0.0011352746514603496,
                        "pitch": -0.21836113929748535,
                        "yaw": -0.1259765475988388
                    }
                },
                "velocity": {
                    "x": 0.00041740978485904634,
                    "y": 0.0002810693404171616,
                    "z": 0.10896461457014084
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.38000673055648804,
                "transform": {
                    "location": {
                        "x": 2187.855224609375,
                        "y": 2567.872802734375,
                        "z": 365.09979248046875
                    },
                    "rotation": {
                        "roll": 0.0010316307889297605,
                        "pitch": -1.180324912071228,
                        "yaw": -89.55216979980469
                    }
                },
                "velocity": {
                    "x": 0.0005179211148060858,
                    "y": -0.37999609112739563,
                    "z": 0.002798213856294751
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.15625,
                        "y": 2453.40087890625,
                        "z": 364.6996765136719
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2220.240966796875,
                        "y": 2524.267822265625,
                        "z": 366.0500793457031
                    },
                    "rotation": {
                        "roll": -0.004425047896802425,
                        "pitch": -1.7206065654754639,
                        "yaw": -179.96832275390625
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.420807838439941,
                "transform": {
                    "location": {
                        "x": 2187.882080078125,
                        "y": 2556.721435546875,
                        "z": 365.1416320800781
                    },
                    "rotation": {
                        "roll": 0.000762318610213697,
                        "pitch": 0.40287867188453674,
                        "yaw": -89.84252166748047
                    }
                },
                "velocity": {
                    "x": 0.014692898839712143,
                    "y": -4.4207682609558105,
                    "z": 0.01153264008462429
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.8260650634765625,
                "transform": {
                    "location": {
                        "x": 2231.998291015625,
                        "y": 2524.296630859375,
                        "z": 366.41058349609375
                    },
                    "rotation": {
                        "roll": 0.009704802185297012,
                        "pitch": -1.8458585739135742,
                        "yaw": 179.3275146484375
                    }
                },
                "velocity": {
                    "x": -4.823385238647461,
                    "y": -0.05449649319052696,
                    "z": -0.15129303932189941
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.1547763347625732,
                "transform": {
                    "location": {
                        "x": 2185.02587890625,
                        "y": 2482.8798828125,
                        "z": 364.96112060546875
                    },
                    "rotation": {
                        "roll": -0.00018312620522920042,
                        "pitch": 0.42810940742492676,
                        "yaw": 89.99561309814453
                    }
                },
                "velocity": {
                    "x": -0.003017326584085822,
                    "y": 3.1546974182128906,
                    "z": 0.02209145575761795
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85972,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0259032249450684,
                "transform": {
                    "location": {
                        "x": 2175.988037109375,
                        "y": 2527.0791015625,
                        "z": 364.9801940917969
                    },
                    "rotation": {
                        "roll": -0.0812377855181694,
                        "pitch": 1.1644173860549927,
                        "yaw": -4.438936233520508
                    }
                },
                "velocity": {
                    "x": 3.0130484104156494,
                    "y": -0.27209776639938354,
                    "z": 0.05994115769863129
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001741446612868458,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.001839719363488257,
                        "pitch": -1.4075584411621094,
                        "yaw": 179.7946319580078
                    }
                },
                "velocity": {
                    "x": -6.572424899786711e-05,
                    "y": -2.7640156986308284e-05,
                    "z": 0.00015887954214122146
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.8544411659240723,
                "transform": {
                    "location": {
                        "x": 2187.916259765625,
                        "y": 2540.39404296875,
                        "z": 365.1685485839844
                    },
                    "rotation": {
                        "roll": -0.0004272439400665462,
                        "pitch": 0.06433355063199997,
                        "yaw": -89.93000793457031
                    }
                },
                "velocity": {
                    "x": 0.004844564478844404,
                    "y": -3.8544375896453857,
                    "z": -0.0019476031884551048
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004400736652314663,
                "transform": {
                    "location": {
                        "x": 2164.24658203125,
                        "y": 2527.3359375,
                        "z": 364.7865905761719
                    },
                    "rotation": {
                        "roll": -0.00634765625,
                        "pitch": 0.08291849493980408,
                        "yaw": 1.0600600242614746
                    }
                },
                "velocity": {
                    "x": 0.0014346704119816422,
                    "y": -0.0038853301666677,
                    "z": 0.0014874181943014264
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003780513652600348,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0026829976122826338,
                        "pitch": 0.21788984537124634,
                        "yaw": -179.79945373535156
                    }
                },
                "velocity": {
                    "x": 1.664090814301744e-05,
                    "y": 2.3187680199043825e-05,
                    "z": 0.0003769724862650037
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00032379190088249743,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.88000501566421e-06,
                    "y": 4.076589902979322e-06,
                    "z": 0.0003237607888877392
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.2586352825164795,
                "transform": {
                    "location": {
                        "x": 2151.5751953125,
                        "y": 2527.359619140625,
                        "z": 364.7500305175781
                    },
                    "rotation": {
                        "roll": 0.000553858291823417,
                        "pitch": -0.003053094493225217,
                        "yaw": 0.11829670518636703
                    }
                },
                "velocity": {
                    "x": 2.258631944656372,
                    "y": -0.0009475073893554509,
                    "z": -0.0037882423494011164
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.952285647392273,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2495.458984375,
                        "z": 365.0548095703125
                    },
                    "rotation": {
                        "roll": -9.156821761280298e-05,
                        "pitch": 0.26784583926200867,
                        "yaw": 90.11900329589844
                    }
                },
                "velocity": {
                    "x": -0.0023058648221194744,
                    "y": 1.952250361442566,
                    "z": 0.011513251811265945
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8758864402770996,
                "transform": {
                    "location": {
                        "x": 2185.005859375,
                        "y": 2506.287841796875,
                        "z": 365.1105041503906
                    },
                    "rotation": {
                        "roll": -0.0003051602398045361,
                        "pitch": 0.24943849444389343,
                        "yaw": 90.10272216796875
                    }
                },
                "velocity": {
                    "x": -0.00326110003516078,
                    "y": 1.8758738040924072,
                    "z": 0.006042413413524628
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.042546510696411,
                "transform": {
                    "location": {
                        "x": 2185.043701171875,
                        "y": 2470.353515625,
                        "z": 364.8718566894531
                    },
                    "rotation": {
                        "roll": 0.0014055761275812984,
                        "pitch": 0.4896289110183716,
                        "yaw": 90.11019134521484
                    }
                },
                "velocity": {
                    "x": -0.003592534689232707,
                    "y": 2.042464256286621,
                    "z": 0.01798352226614952
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.045807428658008575,
        "expert_target_speed": 1.3725174287454576,
        "target_point": [
            26.493277202016586,
            18.513478947353516
        ],
        "target_point_next": [
            26.493277202016586,
            18.513478947353516
        ]
    },
    "415": {
        "acceleration": [
            0.9963726997375488,
            -1.093606948852539,
            0.02048872411251068
        ],
        "angular_velocity": [
            -0.25762930512428284,
            -0.31125083565711975,
            9.589581489562988
        ],
        "forward_vector": [
            -0.8170282244682312,
            0.5762733817100525,
            -0.019332872703671455
        ],
        "right_vector": [
            -0.5762204527854919,
            -0.8172472715377808,
            -0.008767763152718544
        ],
        "location": [
            2180.085205078125,
            2523.091796875,
            365.0606689453125
        ],
        "rotation": [
            0.5024561882019043,
            -1.107761025428772,
            144.8035888671875
        ],
        "velocity": [
            -1.3442292213439941,
            0.6357735395431519,
            -0.028018074110150337
        ],
        "speed": 1.4869970386985674,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 16.126766204833984,
        "front_vehicle_info": {
            "id": 85976,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2164.529541015625,
                2527.3369140625,
                364.7906799316406
            ],
            "velocity": [
                1.7945200204849243,
                0.009621819481253624,
                0.02012810669839382
            ],
            "speed_kmh": 6.460771294449095,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9698784351348877,
                "transform": {
                    "location": {
                        "x": 2136.015380859375,
                        "y": 2527.302734375,
                        "z": 364.78179931640625
                    },
                    "rotation": {
                        "roll": -0.0024414060171693563,
                        "pitch": -0.17538559436798096,
                        "yaw": -0.1042785495519638
                    }
                },
                "velocity": {
                    "x": 0.9667107462882996,
                    "y": 0.011347443796694279,
                    "z": 0.07749711722135544
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.4247550964355469,
                "transform": {
                    "location": {
                        "x": 2187.857177734375,
                        "y": 2567.614990234375,
                        "z": 365.09674072265625
                    },
                    "rotation": {
                        "roll": 0.0048784720711410046,
                        "pitch": 0.026678716763854027,
                        "yaw": -89.57886505126953
                    }
                },
                "velocity": {
                    "x": 0.008520303294062614,
                    "y": -1.4247132539749146,
                    "z": 0.006843080278486013
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001453768345527351,
                "transform": {
                    "location": {
                        "x": 2185.15625,
                        "y": 2453.401123046875,
                        "z": 364.6994934082031
                    },
                    "rotation": {
                        "roll": -0.0008545173914171755,
                        "pitch": 0.6201059818267822,
                        "yaw": 90.06045532226562
                    }
                },
                "velocity": {
                    "x": -6.28076886641793e-05,
                    "y": -0.0001780588208930567,
                    "z": 0.001441455096937716
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007307201740331948,
                "transform": {
                    "location": {
                        "x": 2220.24072265625,
                        "y": 2524.267822265625,
                        "z": 366.0500793457031
                    },
                    "rotation": {
                        "roll": -0.005218505393713713,
                        "pitch": -1.7162761688232422,
                        "yaw": -179.9684600830078
                    }
                },
                "velocity": {
                    "x": -2.7371941541787237e-05,
                    "y": 8.964924927568063e-05,
                    "z": -0.0007246832246892154
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.411810874938965,
                "transform": {
                    "location": {
                        "x": 2187.88623046875,
                        "y": 2555.452392578125,
                        "z": 365.1453552246094
                    },
                    "rotation": {
                        "roll": 0.00018000246200244874,
                        "pitch": 0.32896238565444946,
                        "yaw": -89.77529907226562
                    }
                },
                "velocity": {
                    "x": 0.014233101159334183,
                    "y": -5.411768913269043,
                    "z": 0.01580902934074402
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.6022589206695557,
                "transform": {
                    "location": {
                        "x": 2231.059326171875,
                        "y": 2524.289306640625,
                        "z": 366.38140869140625
                    },
                    "rotation": {
                        "roll": 0.07805360108613968,
                        "pitch": -2.0509963035583496,
                        "yaw": 178.09962463378906
                    }
                },
                "velocity": {
                    "x": -2.6010124683380127,
                    "y": -0.009284679777920246,
                    "z": -0.07999332249164581
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.8645341396331787,
                "transform": {
                    "location": {
                        "x": 2185.025634765625,
                        "y": 2483.755859375,
                        "z": 364.9673767089844
                    },
                    "rotation": {
                        "roll": -0.0002441595133859664,
                        "pitch": 0.4324260950088501,
                        "yaw": 90.02128601074219
                    }
                },
                "velocity": {
                    "x": -0.004049071576446295,
                    "y": 3.86443829536438,
                    "z": 0.02689599059522152
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00047566223656758666,
                "transform": {
                    "location": {
                        "x": 2200.40673828125,
                        "y": 2524.310302734375,
                        "z": 365.51654052734375
                    },
                    "rotation": {
                        "roll": 0.001839719363488257,
                        "pitch": -1.4075584411621094,
                        "yaw": 179.7946319580078
                    }
                },
                "velocity": {
                    "x": -7.154613558668643e-05,
                    "y": 9.579525794833899e-06,
                    "z": 0.0004701531142927706
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7005654573440552,
                "transform": {
                    "location": {
                        "x": 2187.91650390625,
                        "y": 2539.604248046875,
                        "z": 365.1711120605469
                    },
                    "rotation": {
                        "roll": 0.0007567855645902455,
                        "pitch": -0.2738632559776306,
                        "yaw": -89.84081268310547
                    }
                },
                "velocity": {
                    "x": 0.0011309917317703366,
                    "y": -1.7005642652511597,
                    "z": -0.0016206646105274558
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7946586608886719,
                "transform": {
                    "location": {
                        "x": 2164.529541015625,
                        "y": 2527.3369140625,
                        "z": 364.7906799316406
                    },
                    "rotation": {
                        "roll": 0.009714903309941292,
                        "pitch": 0.6467369198799133,
                        "yaw": 0.9261700510978699
                    }
                },
                "velocity": {
                    "x": 1.7945200204849243,
                    "y": 0.009621819481253624,
                    "z": 0.02012810669839382
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005090850172564387,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0026829976122826338,
                        "pitch": 0.21788984537124634,
                        "yaw": -179.79945373535156
                    }
                },
                "velocity": {
                    "x": 1.693516969680786e-05,
                    "y": 3.111861815341399e-06,
                    "z": -0.0005087937461212277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011296664888504893,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 5.442462679638993e-06,
                    "y": 2.911433966801269e-06,
                    "z": 0.00011279790487606078
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.23706427216529846,
                "transform": {
                    "location": {
                        "x": 2152.098388671875,
                        "y": 2527.361328125,
                        "z": 364.75048828125
                    },
                    "rotation": {
                        "roll": 0.0009487594361416996,
                        "pitch": -0.18551476299762726,
                        "yaw": -0.0726318433880806
                    }
                },
                "velocity": {
                    "x": 0.2370050996541977,
                    "y": 0.005169359967112541,
                    "z": -0.0011536215897649527
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.060920000076294,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2496.006591796875,
                        "z": 365.0576171875
                    },
                    "rotation": {
                        "roll": 0.0004456368915271014,
                        "pitch": 0.32306793332099915,
                        "yaw": 90.114990234375
                    }
                },
                "velocity": {
                    "x": -0.003528162371367216,
                    "y": 2.0608725547790527,
                    "z": 0.013557452708482742
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9499815702438354,
                "transform": {
                    "location": {
                        "x": 2185.005859375,
                        "y": 2506.53955078125,
                        "z": 365.1109313964844
                    },
                    "rotation": {
                        "roll": -0.0009460622095502913,
                        "pitch": 0.31560254096984863,
                        "yaw": 90.10153198242188
                    }
                },
                "velocity": {
                    "x": -0.001124752452597022,
                    "y": 0.9499760866165161,
                    "z": 0.0030310724396258593
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2210.32080078125,
                        "y": 2524.2890625,
                        "z": 365.75830078125
                    },
                    "rotation": {
                        "roll": 0.0006524586351588368,
                        "pitch": -1.5487316846847534,
                        "yaw": 179.87062072753906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7548431158065796,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2470.858642578125,
                        "z": 364.87603759765625
                    },
                    "rotation": {
                        "roll": 0.0022786513436585665,
                        "pitch": 0.5081114172935486,
                        "yaw": 90.11228942871094
                    }
                },
                "velocity": {
                    "x": -0.003350878367200494,
                    "y": 1.754770278930664,
                    "z": 0.015640219673514366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.026669757440686226,
        "expert_target_speed": 0.7775286926646782,
        "target_point": [
            26.9078012471215,
            17.224220173025294
        ],
        "target_point_next": [
            26.9078012471215,
            17.224220173025294
        ]
    },
    "420": {
        "acceleration": [
            1.2700295448303223,
            -0.4456824064254761,
            0.031495578587055206
        ],
        "angular_velocity": [
            0.3069111406803131,
            -0.24827352166175842,
            6.895758628845215
        ],
        "forward_vector": [
            -0.8368690013885498,
            0.5470321178436279,
            -0.020152872428297997
        ],
        "right_vector": [
            -0.5469565987586975,
            -0.8371061682701111,
            -0.009573448449373245
        ],
        "location": [
            2179.793212890625,
            2523.233154296875,
            365.0545349121094
        ],
        "rotation": [
            0.5486379861831665,
            -1.1547527313232422,
            146.82875061035156
        ],
        "velocity": [
            -1.0528355836868286,
            0.46023234724998474,
            -0.02336927317082882
        ],
        "speed": 1.149032888881957,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 15.223234176635742,
        "front_vehicle_info": {
            "id": 85976,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2165.136474609375,
                2527.33935546875,
                364.797607421875
            ],
            "velocity": [
                3.0887537002563477,
                0.010376570746302605,
                0.03388132154941559
            ],
            "speed_kmh": 11.120245019454787,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7586978673934937,
                "transform": {
                    "location": {
                        "x": 2136.3525390625,
                        "y": 2527.306396484375,
                        "z": 364.7904357910156
                    },
                    "rotation": {
                        "roll": -0.0032653806265443563,
                        "pitch": -0.16519494354724884,
                        "yaw": 0.015329434536397457
                    }
                },
                "velocity": {
                    "x": 1.7584835290908813,
                    "y": 0.026757216081023216,
                    "z": 0.006139068398624659
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.324052572250366,
                "transform": {
                    "location": {
                        "x": 2187.85986328125,
                        "y": 2567.140625,
                        "z": 365.0972595214844
                    },
                    "rotation": {
                        "roll": 0.004896484315395355,
                        "pitch": 0.48141902685165405,
                        "yaw": -89.60221099853516
                    }
                },
                "velocity": {
                    "x": 0.01325184665620327,
                    "y": -2.3239951133728027,
                    "z": 0.009598474018275738
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.156005859375,
                        "y": 2453.81787109375,
                        "z": 364.7043151855469
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021938912686891854,
                "transform": {
                    "location": {
                        "x": 2220.24072265625,
                        "y": 2524.267822265625,
                        "z": 366.0500793457031
                    },
                    "rotation": {
                        "roll": -0.004333496559411287,
                        "pitch": -1.7150535583496094,
                        "yaw": -179.96847534179688
                    }
                },
                "velocity": {
                    "x": -5.034058995079249e-05,
                    "y": 2.8764770831912756e-07,
                    "z": 0.00021353531337808818
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.905419826507568,
                "transform": {
                    "location": {
                        "x": 2187.8916015625,
                        "y": 2554.021484375,
                        "z": 365.14886474609375
                    },
                    "rotation": {
                        "roll": -0.0021667589899152517,
                        "pitch": 0.21280136704444885,
                        "yaw": -89.63568878173828
                    }
                },
                "velocity": {
                    "x": 0.02360064536333084,
                    "y": -5.905357360839844,
                    "z": 0.013572854921221733
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.29746901988983154,
                "transform": {
                    "location": {
                        "x": 2230.85693359375,
                        "y": 2524.288818359375,
                        "z": 366.3750305175781
                    },
                    "rotation": {
                        "roll": 0.09958600252866745,
                        "pitch": -2.129516363143921,
                        "yaw": 177.80699157714844
                    }
                },
                "velocity": {
                    "x": -0.2972818613052368,
                    "y": 0.004661749117076397,
                    "z": -0.009464912116527557
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 4.522582530975342,
                "transform": {
                    "location": {
                        "x": 2185.02392578125,
                        "y": 2484.828369140625,
                        "z": 364.9749450683594
                    },
                    "rotation": {
                        "roll": -0.000518802204169333,
                        "pitch": 0.4316816031932831,
                        "yaw": 90.03893280029297
                    }
                },
                "velocity": {
                    "x": -0.003632155479863286,
                    "y": 4.522487640380859,
                    "z": 0.02902127243578434
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.6117759346961975,
                "transform": {
                    "location": {
                        "x": 2200.34912109375,
                        "y": 2524.310302734375,
                        "z": 365.5155334472656
                    },
                    "rotation": {
                        "roll": 0.0026832185685634613,
                        "pitch": -1.4521801471710205,
                        "yaw": 179.80859375
                    }
                },
                "velocity": {
                    "x": -0.6115849614143372,
                    "y": 0.0003750763717107475,
                    "z": -0.015279416926205158
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004978671669960022,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.55810546875,
                        "z": 365.1738586425781
                    },
                    "rotation": {
                        "roll": -0.003814697964116931,
                        "pitch": -0.621485710144043,
                        "yaw": -89.77782440185547
                    }
                },
                "velocity": {
                    "x": -7.376099529210478e-05,
                    "y": 0.004772006068378687,
                    "z": -0.0014176348922774196
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.0889570713043213,
                "transform": {
                    "location": {
                        "x": 2165.136474609375,
                        "y": 2527.33935546875,
                        "z": 364.797607421875
                    },
                    "rotation": {
                        "roll": 0.015043819323182106,
                        "pitch": 0.7981007099151611,
                        "yaw": 0.7008445262908936
                    }
                },
                "velocity": {
                    "x": 3.0887537002563477,
                    "y": 0.010376570746302605,
                    "z": 0.03388132154941559
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5218786757031921e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0026829976122826338,
                        "pitch": 0.21788984537124634,
                        "yaw": -179.79945373535156
                    }
                },
                "velocity": {
                    "x": 1.1233240002184175e-05,
                    "y": 5.219660124566872e-06,
                    "z": 8.841998351272196e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000650784291792661,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.7964988728635944e-05,
                    "y": -1.1457667824288364e-05,
                    "z": 0.0006504353950731456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.4092116355895996,
                "transform": {
                    "location": {
                        "x": 2152.262451171875,
                        "y": 2527.36083984375,
                        "z": 364.75042724609375
                    },
                    "rotation": {
                        "roll": 0.0016481132479384542,
                        "pitch": -0.2474031001329422,
                        "yaw": 0.0018276561750099063
                    }
                },
                "velocity": {
                    "x": 1.4092085361480713,
                    "y": -0.0019727118778973818,
                    "z": -0.002153711160644889
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.8342292904853821,
                "transform": {
                    "location": {
                        "x": 2185.013427734375,
                        "y": 2496.287841796875,
                        "z": 365.0582275390625
                    },
                    "rotation": {
                        "roll": 0.00033410312607884407,
                        "pitch": 0.46120166778564453,
                        "yaw": 89.98526763916016
                    }
                },
                "velocity": {
                    "x": 0.0007394549320451915,
                    "y": 0.8342226147651672,
                    "z": 0.0032443522941321135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8010408878326416,
                "transform": {
                    "location": {
                        "x": 2185.006103515625,
                        "y": 2506.88671875,
                        "z": 365.11346435546875
                    },
                    "rotation": {
                        "roll": 0.0002751096908468753,
                        "pitch": 0.16515396535396576,
                        "yaw": 90.1153564453125
                    }
                },
                "velocity": {
                    "x": -0.003570200176909566,
                    "y": 1.8010262250900269,
                    "z": 0.006348762195557356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.07154862582683563,
                "transform": {
                    "location": {
                        "x": 2210.3173828125,
                        "y": 2524.2890625,
                        "z": 365.7579345703125
                    },
                    "rotation": {
                        "roll": 0.0005038110539317131,
                        "pitch": -1.537284255027771,
                        "yaw": 179.87240600585938
                    }
                },
                "velocity": {
                    "x": -0.07154713571071625,
                    "y": 0.0004084848042111844,
                    "z": -0.00021577834559138864
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0274908542633057,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2471.30224609375,
                        "z": 364.88018798828125
                    },
                    "rotation": {
                        "roll": 0.0017758309841156006,
                        "pitch": 0.47865962982177734,
                        "yaw": 90.12095642089844
                    }
                },
                "velocity": {
                    "x": -0.003235273528844118,
                    "y": 2.0274152755737305,
                    "z": 0.017211828380823135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.030623842030763626,
        "expert_target_speed": 0.2060323715775466,
        "target_point": [
            27.17792391628867,
            16.221136125912164
        ],
        "target_point_next": [
            27.17792391628867,
            16.221136125912164
        ]
    },
    "425": {
        "acceleration": [
            0.12440085411071777,
            -0.4932594299316406,
            0.008135326206684113
        ],
        "angular_velocity": [
            -0.19983920454978943,
            0.34390732645988464,
            6.488646030426025
        ],
        "forward_vector": [
            -0.8521866202354431,
            0.5228654742240906,
            -0.019741203635931015
        ],
        "right_vector": [
            -0.5227808952331543,
            -0.8524125814437866,
            -0.00963788665831089
        ],
        "location": [
            2179.554443359375,
            2523.337890625,
            365.04937744140625
        ],
        "rotation": [
            0.5523263812065125,
            -1.1311612129211426,
            148.46849060058594
        ],
        "velocity": [
            -0.9172471165657043,
            0.35170063376426697,
            -0.01971367746591568
        ],
        "speed": 0.982362259371911,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 14.029419898986816,
        "front_vehicle_info": {
            "id": 85976,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2166.1103515625,
                2527.3408203125,
                364.8094482421875
            ],
            "velocity": [
                4.584744930267334,
                0.004086161497980356,
                0.06187624856829643
            ],
            "speed_kmh": 16.50659139538937,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.5576331615448,
                "transform": {
                    "location": {
                        "x": 2136.858642578125,
                        "y": 2527.312744140625,
                        "z": 364.7897644042969
                    },
                    "rotation": {
                        "roll": -0.0026855466421693563,
                        "pitch": -0.15613128244876862,
                        "yaw": 0.07583364844322205
                    }
                },
                "velocity": {
                    "x": 2.5574100017547607,
                    "y": 0.03293542191386223,
                    "z": -0.0075297546572983265
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1090447902679443,
                "transform": {
                    "location": {
                        "x": 2187.86376953125,
                        "y": 2566.587646484375,
                        "z": 365.1002197265625
                    },
                    "rotation": {
                        "roll": 0.002341900486499071,
                        "pitch": 0.3332858979701996,
                        "yaw": -89.624267578125
                    }
                },
                "velocity": {
                    "x": 0.011792623437941074,
                    "y": -2.1089906692504883,
                    "z": 0.009454307146370411
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010395728750154376,
                "transform": {
                    "location": {
                        "x": 2185.156005859375,
                        "y": 2453.81787109375,
                        "z": 364.7041015625
                    },
                    "rotation": {
                        "roll": 0.0001393332058796659,
                        "pitch": 0.6149697303771973,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0001280855794902891,
                    "y": -9.018011041916907e-05,
                    "z": 0.0010277029359713197
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0004175457579549402,
                "transform": {
                    "location": {
                        "x": 2220.24072265625,
                        "y": 2524.267822265625,
                        "z": 366.0500793457031
                    },
                    "rotation": {
                        "roll": -0.004547119606286287,
                        "pitch": -1.7144114971160889,
                        "yaw": -179.96861267089844
                    }
                },
                "velocity": {
                    "x": -2.5919376639649272e-05,
                    "y": -4.905102832708508e-05,
                    "z": -0.00041384375072084367
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.707129955291748,
                "transform": {
                    "location": {
                        "x": 2187.897216796875,
                        "y": 2552.327880859375,
                        "z": 365.1526184082031
                    },
                    "rotation": {
                        "roll": 0.0024474395904690027,
                        "pitch": 0.21631890535354614,
                        "yaw": -89.7831039428711
                    }
                },
                "velocity": {
                    "x": 0.02055812068283558,
                    "y": -6.707085609436035,
                    "z": 0.013074588030576706
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1876593828201294,
                "transform": {
                    "location": {
                        "x": 2230.671630859375,
                        "y": 2524.29052734375,
                        "z": 366.3697509765625
                    },
                    "rotation": {
                        "roll": 0.059056445956230164,
                        "pitch": -1.7519434690475464,
                        "yaw": 178.03350830078125
                    }
                },
                "velocity": {
                    "x": -1.1870611906051636,
                    "y": 0.011605777777731419,
                    "z": -0.03585800528526306
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 3.295079231262207,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2485.8125,
                        "z": 364.9820861816406
                    },
                    "rotation": {
                        "roll": 0.001061182003468275,
                        "pitch": 0.363980770111084,
                        "yaw": 90.04369354248047
                    }
                },
                "velocity": {
                    "x": -0.0027545939665287733,
                    "y": 3.2950010299682617,
                    "z": 0.022523144260048866
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.464849829673767,
                "transform": {
                    "location": {
                        "x": 2200.084228515625,
                        "y": 2524.310791015625,
                        "z": 365.50933837890625
                    },
                    "rotation": {
                        "roll": 0.002607489936053753,
                        "pitch": -1.490688681602478,
                        "yaw": 179.78370666503906
                    }
                },
                "velocity": {
                    "x": -1.4643827676773071,
                    "y": 0.003417864441871643,
                    "z": -0.03683063015341759
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0029585910961031914,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.55322265625,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": -0.001129148993641138,
                        "pitch": -0.026330377906560898,
                        "yaw": -89.77801513671875
                    }
                },
                "velocity": {
                    "x": 8.098289981717244e-05,
                    "y": 0.002796200104057789,
                    "z": -0.0009633111767470837
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.5851640701293945,
                "transform": {
                    "location": {
                        "x": 2166.1103515625,
                        "y": 2527.3408203125,
                        "z": 364.8094482421875
                    },
                    "rotation": {
                        "roll": 0.015213330276310444,
                        "pitch": 0.9073564410209656,
                        "yaw": 0.3537503778934479
                    }
                },
                "velocity": {
                    "x": 4.584744930267334,
                    "y": 0.004086161497980356,
                    "z": 0.06187624856829643
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.409483077935874e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0026829976122826338,
                        "pitch": 0.21788984537124634,
                        "yaw": -179.79945373535156
                    }
                },
                "velocity": {
                    "x": 2.0435452825040556e-05,
                    "y": 4.605644789990038e-06,
                    "z": 7.10719614289701e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001672497601248324,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.970119683392113e-06,
                    "y": 1.9052147308684653e-06,
                    "z": 0.00016722730651963502
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.6657650470733643,
                "transform": {
                    "location": {
                        "x": 2152.764892578125,
                        "y": 2527.359619140625,
                        "z": 364.74554443359375
                    },
                    "rotation": {
                        "roll": -0.0009765625,
                        "pitch": 0.251084566116333,
                        "yaw": 0.04396948218345642
                    }
                },
                "velocity": {
                    "x": 2.6657609939575195,
                    "y": -0.002171586500480771,
                    "z": -0.004068078938871622
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.757921814918518,
                "transform": {
                    "location": {
                        "x": 2185.013427734375,
                        "y": 2496.61669921875,
                        "z": 365.0613708496094
                    },
                    "rotation": {
                        "roll": -0.0010070913704112172,
                        "pitch": 0.2813969552516937,
                        "yaw": 89.9958724975586
                    }
                },
                "velocity": {
                    "x": -0.002393556758761406,
                    "y": 1.7578961849212646,
                    "z": 0.009181270375847816
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4184653759002686,
                "transform": {
                    "location": {
                        "x": 2185.00634765625,
                        "y": 2507.316650390625,
                        "z": 365.11456298828125
                    },
                    "rotation": {
                        "roll": 0.0020029470324516296,
                        "pitch": 0.21623694896697998,
                        "yaw": 90.1680908203125
                    }
                },
                "velocity": {
                    "x": -0.008052456192672253,
                    "y": 1.4184322357177734,
                    "z": 0.0054045869037508965
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9433476328849792,
                "transform": {
                    "location": {
                        "x": 2210.21044921875,
                        "y": 2524.2890625,
                        "z": 365.75494384765625
                    },
                    "rotation": {
                        "roll": 0.00048153300303965807,
                        "pitch": -1.4889538288116455,
                        "yaw": 179.86688232421875
                    }
                },
                "velocity": {
                    "x": -0.9430550336837769,
                    "y": 0.000494405860081315,
                    "z": -0.023489827290177345
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7460930347442627,
                "transform": {
                    "location": {
                        "x": 2185.042724609375,
                        "y": 2471.8046875,
                        "z": 364.88433837890625
                    },
                    "rotation": {
                        "roll": 0.0010957532795146108,
                        "pitch": 0.49884283542633057,
                        "yaw": 90.11408233642578
                    }
                },
                "velocity": {
                    "x": -0.003510806243866682,
                    "y": 1.7460218667984009,
                    "z": 0.015374726615846157
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04437787085771561,
        "expert_target_speed": 0.0,
        "target_point": [
            27.372671556414762,
            15.401203708107548
        ],
        "target_point_next": [
            27.372671556414762,
            15.401203708107548
        ]
    },
    "430": {
        "acceleration": [
            0.19579768180847168,
            0.10685503482818604,
            -0.005748532712459564
        ],
        "angular_velocity": [
            0.25081565976142883,
            -0.005907846614718437,
            5.927156925201416
        ],
        "forward_vector": [
            -0.8658192157745361,
            0.4999946653842926,
            -0.01903502456843853
        ],
        "right_vector": [
            -0.499915212392807,
            -0.8660268187522888,
            -0.009068116545677185
        ],
        "location": [
            2179.33251953125,
            2523.427001953125,
            365.0446472167969
        ],
        "rotation": [
            0.5196661353111267,
            -1.090692400932312,
            149.99435424804688
        ],
        "velocity": [
            -0.8851848244667053,
            0.32365503907203674,
            -0.017726382240653038
        ],
        "speed": 0.9424992083725448,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 12.66170597076416,
        "front_vehicle_info": {
            "id": 85976,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2167.292724609375,
                2527.34033203125,
                364.8255920410156
            ],
            "velocity": [
                4.415871620178223,
                -0.005166401155292988,
                0.05964948609471321
            ],
            "speed_kmh": 15.898598984422767,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.023923873901367,
                "transform": {
                    "location": {
                        "x": 2137.7041015625,
                        "y": 2527.322021484375,
                        "z": 364.78656005859375
                    },
                    "rotation": {
                        "roll": -0.003479003207758069,
                        "pitch": -0.12838706374168396,
                        "yaw": 0.28671735525131226
                    }
                },
                "velocity": {
                    "x": 4.023567199707031,
                    "y": 0.051646873354911804,
                    "z": -0.014309071935713291
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.888662576675415,
                "transform": {
                    "location": {
                        "x": 2187.86767578125,
                        "y": 2565.97998046875,
                        "z": 365.10260009765625
                    },
                    "rotation": {
                        "roll": 0.0020946671720594168,
                        "pitch": 0.45857205986976624,
                        "yaw": -89.64502716064453
                    }
                },
                "velocity": {
                    "x": 0.015444389544427395,
                    "y": -2.8885934352874756,
                    "z": 0.01265600137412548
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0012330636382102966,
                "transform": {
                    "location": {
                        "x": 2185.156005859375,
                        "y": 2453.81787109375,
                        "z": 364.7041320800781
                    },
                    "rotation": {
                        "roll": -0.0001220701597048901,
                        "pitch": 0.6229268908500671,
                        "yaw": 90.06043243408203
                    }
                },
                "velocity": {
                    "x": 9.470435907132924e-05,
                    "y": -5.027584484196268e-05,
                    "z": 0.0012283930554986
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005424297996796668,
                "transform": {
                    "location": {
                        "x": 2220.24072265625,
                        "y": 2524.267822265625,
                        "z": 366.0500793457031
                    },
                    "rotation": {
                        "roll": -0.004821776878088713,
                        "pitch": -1.714138388633728,
                        "yaw": -179.96871948242188
                    }
                },
                "velocity": {
                    "x": -8.54456375236623e-05,
                    "y": 3.074276537518017e-05,
                    "z": 0.0005347747355699539
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.857058048248291,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2551.12109375,
                        "z": 365.1537170410156
                    },
                    "rotation": {
                        "roll": 0.0005120141431689262,
                        "pitch": -0.4641045033931732,
                        "yaw": -89.84320068359375
                    }
                },
                "velocity": {
                    "x": 0.005034121219068766,
                    "y": -1.8570507764816284,
                    "z": 0.0014167499030008912
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3710193634033203,
                "transform": {
                    "location": {
                        "x": 2230.26708984375,
                        "y": 2524.29345703125,
                        "z": 366.3572998046875
                    },
                    "rotation": {
                        "roll": 0.04072954133152962,
                        "pitch": -1.7274162769317627,
                        "yaw": 178.42718505859375
                    }
                },
                "velocity": {
                    "x": -1.3703445196151733,
                    "y": 0.008222481235861778,
                    "z": -0.04221959412097931
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.6970001459121704,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2486.46240234375,
                        "z": 364.9867248535156
                    },
                    "rotation": {
                        "roll": 0.0001841381163103506,
                        "pitch": 0.33646875619888306,
                        "yaw": 90.02047729492188
                    }
                },
                "velocity": {
                    "x": -0.0003135035512968898,
                    "y": 1.696961522102356,
                    "z": 0.011453513987362385
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.316741704940796,
                "transform": {
                    "location": {
                        "x": 2199.609375,
                        "y": 2524.311767578125,
                        "z": 365.49755859375
                    },
                    "rotation": {
                        "roll": 0.0028845632914453745,
                        "pitch": -1.4952991008758545,
                        "yaw": 179.80361938476562
                    }
                },
                "velocity": {
                    "x": -2.316025495529175,
                    "y": 0.004998431541025639,
                    "z": -0.05738388001918793
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002962969010695815,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.552490234375,
                        "z": 365.16839599609375
                    },
                    "rotation": {
                        "roll": 0.0006387613830156624,
                        "pitch": 0.055392831563949585,
                        "yaw": -89.77801513671875
                    }
                },
                "velocity": {
                    "x": -4.454065128811635e-05,
                    "y": -0.0002762916556093842,
                    "z": 9.731855971040204e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.4162774085998535,
                "transform": {
                    "location": {
                        "x": 2167.292724609375,
                        "y": 2527.34033203125,
                        "z": 364.8255920410156
                    },
                    "rotation": {
                        "roll": 0.011026604101061821,
                        "pitch": 0.870794415473938,
                        "yaw": 0.10152888298034668
                    }
                },
                "velocity": {
                    "x": 4.415871620178223,
                    "y": -0.005166401155292988,
                    "z": 0.05964948609471321
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015431796782650054,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0025213886983692646,
                        "pitch": 0.218142569065094,
                        "yaw": -179.79945373535156
                    }
                },
                "velocity": {
                    "x": 2.105478233715985e-05,
                    "y": -1.8204580555902794e-05,
                    "z": 0.0001517871132818982
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.6935601234436035,
                "transform": {
                    "location": {
                        "x": 2153.69970703125,
                        "y": 2527.35888671875,
                        "z": 364.7421875
                    },
                    "rotation": {
                        "roll": 0.0021423150319606066,
                        "pitch": 0.45586729049682617,
                        "yaw": -0.005584716331213713
                    }
                },
                "velocity": {
                    "x": 4.693548202514648,
                    "y": -0.006687029264867306,
                    "z": -0.008351230062544346
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1204745769500732,
                "transform": {
                    "location": {
                        "x": 2185.013671875,
                        "y": 2497.138427734375,
                        "z": 365.0642395019531
                    },
                    "rotation": {
                        "roll": -0.001770026865415275,
                        "pitch": 0.27736714482307434,
                        "yaw": 90.02062225341797
                    }
                },
                "velocity": {
                    "x": -0.002789937425404787,
                    "y": 2.1204445362091064,
                    "z": 0.010961760766804218
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.4927518367767334,
                "transform": {
                    "location": {
                        "x": 2185.006591796875,
                        "y": 2507.6396484375,
                        "z": 365.115966796875
                    },
                    "rotation": {
                        "roll": 0.0007944212993606925,
                        "pitch": 0.20131981372833252,
                        "yaw": 90.22189331054688
                    }
                },
                "velocity": {
                    "x": -0.002749671461060643,
                    "y": 1.492737054824829,
                    "z": 0.006031999364495277
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2392069101333618,
                "transform": {
                    "location": {
                        "x": 2209.909423828125,
                        "y": 2524.29150390625,
                        "z": 365.74737548828125
                    },
                    "rotation": {
                        "roll": -0.0008239744929596782,
                        "pitch": -1.5007017850875854,
                        "yaw": 179.95394897460938
                    }
                },
                "velocity": {
                    "x": -1.2386945486068726,
                    "y": 0.01233937032520771,
                    "z": -0.03342502936720848
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0097246170043945,
                "transform": {
                    "location": {
                        "x": 2185.04248046875,
                        "y": 2472.245849609375,
                        "z": 364.8883056640625
                    },
                    "rotation": {
                        "roll": 0.0011467909207567573,
                        "pitch": 0.47661057114601135,
                        "yaw": 90.11190795898438
                    }
                },
                "velocity": {
                    "x": -0.0040503088384866714,
                    "y": 2.0096588134765625,
                    "z": 0.01576109789311886
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.12205987423658371,
        "expert_target_speed": 0.0,
        "target_point": [
            27.536327809239037,
            14.633044895932292
        ],
        "target_point_next": [
            27.536327809239037,
            14.633044895932292
        ]
    },
    "435": {
        "acceleration": [
            -0.4963970184326172,
            -0.2697885036468506,
            -0.019583702087402344
        ],
        "angular_velocity": [
            -0.28654348850250244,
            0.32231131196022034,
            6.956360340118408
        ],
        "forward_vector": [
            -0.8795062899589539,
            0.47552916407585144,
            -0.018458867445588112
        ],
        "right_vector": [
            -0.4754575192928314,
            -0.8796988129615784,
            -0.008374402299523354
        ],
        "location": [
            2179.10791015625,
            2523.5078125,
            365.039794921875
        ],
        "rotation": [
            0.47990527749061584,
            -1.0576752424240112,
            151.6009063720703
        ],
        "velocity": [
            -0.9460673332214355,
            0.29123470187187195,
            -0.018626708537340164
        ],
        "speed": 0.9898793111097518,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 11.415671348571777,
        "front_vehicle_info": {
            "id": 85976,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2168.35595703125,
                2527.33837890625,
                364.8402404785156
            ],
            "velocity": [
                4.327746868133545,
                -0.008711288683116436,
                0.05822044238448143
            ],
            "speed_kmh": 15.581330034880775,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.767329692840576,
                "transform": {
                    "location": {
                        "x": 2138.8291015625,
                        "y": 2527.32861328125,
                        "z": 364.7824401855469
                    },
                    "rotation": {
                        "roll": 0.0015449182828888297,
                        "pitch": -0.1470334678888321,
                        "yaw": 0.3450332283973694
                    }
                },
                "velocity": {
                    "x": 4.767236232757568,
                    "y": 0.024345314130187035,
                    "z": -0.01725061424076557
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.263889312744141,
                "transform": {
                    "location": {
                        "x": 2187.871826171875,
                        "y": 2565.076416015625,
                        "z": 365.1058044433594
                    },
                    "rotation": {
                        "roll": 0.009304665960371494,
                        "pitch": 0.7131741642951965,
                        "yaw": -89.71347045898438
                    }
                },
                "velocity": {
                    "x": 0.014451432973146439,
                    "y": -4.263824462890625,
                    "z": 0.018637171015143394
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3579928874969482,
                "transform": {
                    "location": {
                        "x": 2185.154541015625,
                        "y": 2453.923095703125,
                        "z": 364.7056579589844
                    },
                    "rotation": {
                        "roll": -0.004516682121902704,
                        "pitch": 0.7935176491737366,
                        "yaw": 90.11724090576172
                    }
                },
                "velocity": {
                    "x": -0.014434823766350746,
                    "y": 1.357835054397583,
                    "z": 0.014846591278910637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.4910290241241455,
                "transform": {
                    "location": {
                        "x": 2220.1875,
                        "y": 2524.267822265625,
                        "z": 366.0485534667969
                    },
                    "rotation": {
                        "roll": -0.0033569331280887127,
                        "pitch": -1.651457667350769,
                        "yaw": -179.98985290527344
                    }
                },
                "velocity": {
                    "x": -0.49079427123069763,
                    "y": 0.003121584188193083,
                    "z": -0.014857339672744274
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.101303219795227,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2550.962646484375,
                        "z": 365.15447998046875
                    },
                    "rotation": {
                        "roll": -0.00015259247447829694,
                        "pitch": -0.14050380885601044,
                        "yaw": -89.91368865966797
                    }
                },
                "velocity": {
                    "x": 0.0012580007314682007,
                    "y": -1.1013004779815674,
                    "z": 0.002094440395012498
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015600628685206175,
                "transform": {
                    "location": {
                        "x": 2230.238525390625,
                        "y": 2524.293701171875,
                        "z": 366.356201171875
                    },
                    "rotation": {
                        "roll": 0.052642449736595154,
                        "pitch": -1.9126577377319336,
                        "yaw": 178.4296875
                    }
                },
                "velocity": {
                    "x": 0.0013937907060608268,
                    "y": 0.0005357337649911642,
                    "z": -0.0004518105706665665
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.24651959538459778,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2486.530029296875,
                        "z": 364.9871826171875
                    },
                    "rotation": {
                        "roll": -0.0014953695936128497,
                        "pitch": 0.33231601119041443,
                        "yaw": 89.94534301757812
                    }
                },
                "velocity": {
                    "x": 0.00019269333279225975,
                    "y": 0.24651116132736206,
                    "z": 0.0020303153432905674
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2918357849121094,
                "transform": {
                    "location": {
                        "x": 2198.904541015625,
                        "y": 2524.313720703125,
                        "z": 365.4801940917969
                    },
                    "rotation": {
                        "roll": -9.155267616733909e-05,
                        "pitch": -1.5036933422088623,
                        "yaw": 179.82391357421875
                    }
                },
                "velocity": {
                    "x": -3.290834665298462,
                    "y": 0.007349051535129547,
                    "z": -0.08083992451429367
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006932211690582335,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.55322265625,
                        "z": 365.1689453125
                    },
                    "rotation": {
                        "roll": 1.298086135648191e-05,
                        "pitch": -0.014520981349050999,
                        "yaw": -89.77801513671875
                    }
                },
                "velocity": {
                    "x": 9.834791853791103e-06,
                    "y": -0.0004781272145919502,
                    "z": 0.0005018498050048947
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.3281474113464355,
                "transform": {
                    "location": {
                        "x": 2168.35595703125,
                        "y": 2527.33837890625,
                        "z": 364.8402404785156
                    },
                    "rotation": {
                        "roll": 0.004289843607693911,
                        "pitch": 0.9596415162086487,
                        "yaw": -0.02239990048110485
                    }
                },
                "velocity": {
                    "x": 4.327746868133545,
                    "y": -0.008711288683116436,
                    "z": 0.05822044238448143
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00020342992502264678,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0023470399901270866,
                        "pitch": 0.2180742621421814,
                        "yaw": -179.79945373535156
                    }
                },
                "velocity": {
                    "x": 1.9746907128137536e-05,
                    "y": -2.1368356101447716e-05,
                    "z": -0.00020133849466219544
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004914540331810713,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.0572560313448776e-05,
                    "y": 1.4565819583367556e-05,
                    "z": 0.0004911243449896574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.5191702842712402,
                "transform": {
                    "location": {
                        "x": 2154.794677734375,
                        "y": 2527.3515625,
                        "z": 364.7464294433594
                    },
                    "rotation": {
                        "roll": -0.023315424099564552,
                        "pitch": -0.2036762237548828,
                        "yaw": 0.7484858632087708
                    }
                },
                "velocity": {
                    "x": 2.5191667079925537,
                    "y": -0.0038352718111127615,
                    "z": -0.00172478670720011
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.34394848346710205,
                "transform": {
                    "location": {
                        "x": 2185.013671875,
                        "y": 2497.41455078125,
                        "z": 365.0639343261719
                    },
                    "rotation": {
                        "roll": -0.0008850229205563664,
                        "pitch": 0.49673232436180115,
                        "yaw": 90.02485656738281
                    }
                },
                "velocity": {
                    "x": -0.0011737797176465392,
                    "y": 0.34393858909606934,
                    "z": 0.0023289299570024014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5553260445594788,
                "transform": {
                    "location": {
                        "x": 2185.00634765625,
                        "y": 2507.828369140625,
                        "z": 365.1160888671875
                    },
                    "rotation": {
                        "roll": 0.0018308593425899744,
                        "pitch": 0.2798806428909302,
                        "yaw": 90.21098327636719
                    }
                },
                "velocity": {
                    "x": -0.0028149771969765425,
                    "y": 0.5553163886070251,
                    "z": 0.0016719246050342917
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.1570613384246826,
                "transform": {
                    "location": {
                        "x": 2209.490478515625,
                        "y": 2524.293212890625,
                        "z": 365.73590087890625
                    },
                    "rotation": {
                        "roll": -0.00091552734375,
                        "pitch": -1.471734881401062,
                        "yaw": 179.9812774658203
                    }
                },
                "velocity": {
                    "x": -2.156271457672119,
                    "y": 0.007696333806961775,
                    "z": -0.0578635111451149
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7427992820739746,
                "transform": {
                    "location": {
                        "x": 2185.041748046875,
                        "y": 2472.746337890625,
                        "z": 364.8922424316406
                    },
                    "rotation": {
                        "roll": 0.001337433815933764,
                        "pitch": 0.49955999851226807,
                        "yaw": 90.1167221069336
                    }
                },
                "velocity": {
                    "x": -0.0028344744350761175,
                    "y": 1.742722749710083,
                    "z": 0.01607409492135048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.10989697277545929,
        "expert_target_speed": 0.0,
        "target_point": [
            27.69973275078224,
            13.81956270301063
        ],
        "target_point_next": [
            27.69973275078224,
            13.81956270301063
        ]
    },
    "440": {
        "acceleration": [
            -0.4865407943725586,
            0.29314279556274414,
            0.0009975209832191467
        ],
        "angular_velocity": [
            0.1295195072889328,
            0.04621848836541176,
            7.247396469116211
        ],
        "forward_vector": [
            -0.893933892250061,
            0.4478399455547333,
            -0.017932286486029625
        ],
        "right_vector": [
            -0.4477735459804535,
            -0.8941130638122559,
            -0.007785059046000242
        ],
        "location": [
            2178.858642578125,
            2523.589111328125,
            365.0345153808594
        ],
        "rotation": [
            0.4461272954940796,
            -1.0274994373321533,
            153.39019775390625
        ],
        "velocity": [
            -1.0733506679534912,
            0.3091866075992584,
            -0.021699819713830948
        ],
        "speed": 1.1169950826726784,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 10.188162803649902,
        "front_vehicle_info": {
            "id": 85976,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2169.38623046875,
                2527.336181640625,
                364.85693359375
            ],
            "velocity": [
                3.916477918624878,
                -0.010029198601841927,
                0.06799691915512085
            ],
            "speed_kmh": 14.101491550534083,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 7.008095741271973,
                "transform": {
                    "location": {
                        "x": 2140.3017578125,
                        "y": 2527.3369140625,
                        "z": 364.77630615234375
                    },
                    "rotation": {
                        "roll": -0.0008544921875,
                        "pitch": -0.08190762251615524,
                        "yaw": 0.286330908536911
                    }
                },
                "velocity": {
                    "x": 7.007955074310303,
                    "y": 0.036309223622083664,
                    "z": -0.025451770052313805
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.392477035522461,
                "transform": {
                    "location": {
                        "x": 2187.8759765625,
                        "y": 2563.8447265625,
                        "z": 365.1111145019531
                    },
                    "rotation": {
                        "roll": 0.006497756578028202,
                        "pitch": 0.7739901542663574,
                        "yaw": -89.77587890625
                    }
                },
                "velocity": {
                    "x": 0.016884520649909973,
                    "y": -5.392395973205566,
                    "z": 0.02430613525211811
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.745077610015869,
                "transform": {
                    "location": {
                        "x": 2185.148681640625,
                        "y": 2454.449951171875,
                        "z": 364.71148681640625
                    },
                    "rotation": {
                        "roll": -0.0024413559585809708,
                        "pitch": 0.8317257761955261,
                        "yaw": 90.2967529296875
                    }
                },
                "velocity": {
                    "x": -0.03073725476861,
                    "y": 2.7447454929351807,
                    "z": 0.029640788212418556
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4424022436141968,
                "transform": {
                    "location": {
                        "x": 2219.936279296875,
                        "y": 2524.268310546875,
                        "z": 366.04119873046875
                    },
                    "rotation": {
                        "roll": -0.0010986330453306437,
                        "pitch": -1.5759499073028564,
                        "yaw": 179.9404296875
                    }
                },
                "velocity": {
                    "x": -1.4417527914047241,
                    "y": 0.002205716446042061,
                    "z": -0.04322192072868347
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.166748046875,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2550.533447265625,
                        "z": 365.15576171875
                    },
                    "rotation": {
                        "roll": 5.442833753477316e-06,
                        "pitch": 0.1804877370595932,
                        "yaw": -89.92082214355469
                    }
                },
                "velocity": {
                    "x": 0.0029153984505683184,
                    "y": -2.1667439937591553,
                    "z": 0.0030496977269649506
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003124648064840585,
                "transform": {
                    "location": {
                        "x": 2230.23779296875,
                        "y": 2524.293701171875,
                        "z": 366.3562927246094
                    },
                    "rotation": {
                        "roll": 0.049235887825489044,
                        "pitch": -1.821440577507019,
                        "yaw": 178.42967224121094
                    }
                },
                "velocity": {
                    "x": 9.164333459921181e-05,
                    "y": -0.00019576813792809844,
                    "z": -0.0002256337320432067
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.77565598487854,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2486.6640625,
                        "z": 364.9875183105469
                    },
                    "rotation": {
                        "roll": -0.000823990732897073,
                        "pitch": 0.39079609513282776,
                        "yaw": 89.99615478515625
                    }
                },
                "velocity": {
                    "x": -0.0010431221453472972,
                    "y": 0.7756440043449402,
                    "z": 0.004191799089312553
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9640867710113525,
                "transform": {
                    "location": {
                        "x": 2198.095947265625,
                        "y": 2524.315673828125,
                        "z": 365.45947265625
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": -1.4014250040054321,
                        "yaw": 179.84046936035156
                    }
                },
                "velocity": {
                    "x": -2.96315336227417,
                    "y": 0.006543368566781282,
                    "z": -0.07408865541219711
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004083071544300765,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.553466796875,
                        "z": 365.1690673828125
                    },
                    "rotation": {
                        "roll": 0.0001850054250098765,
                        "pitch": -0.03091343492269516,
                        "yaw": -89.77800750732422
                    }
                },
                "velocity": {
                    "x": -3.536911663104547e-06,
                    "y": 6.503629992948845e-05,
                    "z": 0.00040307879680767655
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.917080879211426,
                "transform": {
                    "location": {
                        "x": 2169.38623046875,
                        "y": 2527.336181640625,
                        "z": 364.85693359375
                    },
                    "rotation": {
                        "roll": 0.002632702700793743,
                        "pitch": 0.9334955811500549,
                        "yaw": -0.090667724609375
                    }
                },
                "velocity": {
                    "x": 3.916477918624878,
                    "y": -0.010029198601841927,
                    "z": 0.06799691915512085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.820628525223583e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0023470399901270866,
                        "pitch": 0.2180742621421814,
                        "yaw": -179.79945373535156
                    }
                },
                "velocity": {
                    "x": 8.816644481157709e-07,
                    "y": 1.428073210263392e-05,
                    "z": -7.688631740165874e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015880905266385525,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 5.536787284654565e-06,
                    "y": -1.1905166502401698e-05,
                    "z": -0.000158265364007093
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7834660410881042,
                "transform": {
                    "location": {
                        "x": 2154.972412109375,
                        "y": 2527.34375,
                        "z": 364.7517395019531
                    },
                    "rotation": {
                        "roll": -0.0334167405962944,
                        "pitch": -0.8522299528121948,
                        "yaw": 1.3915051221847534
                    }
                },
                "velocity": {
                    "x": 0.7834641933441162,
                    "y": 0.0016623091651126742,
                    "z": -0.00044573782361112535
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2900230884552002,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2497.639404296875,
                        "z": 365.0670166015625
                    },
                    "rotation": {
                        "roll": 0.0008548108744435012,
                        "pitch": 0.27790671586990356,
                        "yaw": 90.05657958984375
                    }
                },
                "velocity": {
                    "x": -0.0019401940517127514,
                    "y": 1.2900053262710571,
                    "z": 0.006468047853559256
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.3573367595672607,
                "transform": {
                    "location": {
                        "x": 2185.006591796875,
                        "y": 2508.07373046875,
                        "z": 365.11822509765625
                    },
                    "rotation": {
                        "roll": 0.0010526118567213416,
                        "pitch": 0.12348981201648712,
                        "yaw": 90.22294616699219
                    }
                },
                "velocity": {
                    "x": -0.002755061723291874,
                    "y": 1.3573249578475952,
                    "z": 0.004932823125272989
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4991400241851807,
                "transform": {
                    "location": {
                        "x": 2208.7578125,
                        "y": 2524.295166015625,
                        "z": 365.71612548828125
                    },
                    "rotation": {
                        "roll": -0.003173827426508069,
                        "pitch": -1.4422968626022339,
                        "yaw": 179.99244689941406
                    }
                },
                "velocity": {
                    "x": -3.497908353805542,
                    "y": 0.008241374976933002,
                    "z": -0.09246217459440231
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9972139596939087,
                "transform": {
                    "location": {
                        "x": 2185.041259765625,
                        "y": 2473.186279296875,
                        "z": 364.8963623046875
                    },
                    "rotation": {
                        "roll": 0.00102739199064672,
                        "pitch": 0.4764876365661621,
                        "yaw": 90.11730194091797
                    }
                },
                "velocity": {
                    "x": -0.004085825756192207,
                    "y": 1.997151494026184,
                    "z": 0.015264186076819897
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.2118004709482193,
        "expert_target_speed": 0.0,
        "target_point": [
            27.858448707696976,
            12.908967038664015
        ],
        "target_point_next": [
            27.858448707696976,
            12.908967038664015
        ]
    },
    "445": {
        "acceleration": [
            0.4504680633544922,
            -0.5928933620452881,
            -0.0016003474593162537
        ],
        "angular_velocity": [
            -0.3758186101913452,
            -0.19785703718662262,
            7.927029132843018
        ],
        "forward_vector": [
            -0.9087852239608765,
            0.41685983538627625,
            -0.018366139382123947
        ],
        "right_vector": [
            -0.4167947471141815,
            -0.9089703559875488,
            -0.0074239326640963554
        ],
        "location": [
            2178.584228515625,
            2523.668212890625,
            365.0289611816406
        ],
        "rotation": [
            0.4254356920719147,
            -1.0523613691329956,
            155.35906982421875
        ],
        "velocity": [
            -1.07892644405365,
            0.2543160617351532,
            -0.021900471299886703
        ],
        "speed": 1.1084939922862604,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 9.027785301208496,
        "front_vehicle_info": {
            "id": 85976,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.33544921875,
                2527.33349609375,
                364.87322998046875
            ],
            "velocity": [
                3.364640951156616,
                -0.0096614770591259,
                0.05717286840081215
            ],
            "speed_kmh": 12.114505921143229,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.4940409660339355,
                "transform": {
                    "location": {
                        "x": 2142.030517578125,
                        "y": 2527.345703125,
                        "z": 364.7707824707031
                    },
                    "rotation": {
                        "roll": -0.0018310544546693563,
                        "pitch": -0.21028785407543182,
                        "yaw": 0.2974253296852112
                    }
                },
                "velocity": {
                    "x": 6.493894577026367,
                    "y": 0.03499258682131767,
                    "z": -0.025954946875572205
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.468933582305908,
                "transform": {
                    "location": {
                        "x": 2187.8798828125,
                        "y": 2562.506591796875,
                        "z": 365.1178283691406
                    },
                    "rotation": {
                        "roll": 0.003604646772146225,
                        "pitch": 0.46995115280151367,
                        "yaw": -89.79693603515625
                    }
                },
                "velocity": {
                    "x": 0.016905928030610085,
                    "y": -5.468864440917969,
                    "z": 0.02173222415149212
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.6777570247650146,
                "transform": {
                    "location": {
                        "x": 2185.13818359375,
                        "y": 2455.307373046875,
                        "z": 364.72064208984375
                    },
                    "rotation": {
                        "roll": 0.002152161207050085,
                        "pitch": 0.7774803638458252,
                        "yaw": 90.50901794433594
                    }
                },
                "velocity": {
                    "x": -0.046806447207927704,
                    "y": 3.677266836166382,
                    "z": 0.037615977227687836
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.43247389793396,
                "transform": {
                    "location": {
                        "x": 2219.46337890625,
                        "y": 2524.269287109375,
                        "z": 366.0271911621094
                    },
                    "rotation": {
                        "roll": -0.00021362313418649137,
                        "pitch": -1.5303038358688354,
                        "yaw": 179.94415283203125
                    }
                },
                "velocity": {
                    "x": -2.4313883781433105,
                    "y": 0.004138112533837557,
                    "z": -0.07254334539175034
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0010707000037655234,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2550.231201171875,
                        "z": 365.15582275390625
                    },
                    "rotation": {
                        "roll": -0.0006713895709253848,
                        "pitch": -0.18005061149597168,
                        "yaw": -89.9220199584961
                    }
                },
                "velocity": {
                    "x": -0.00010785713675431907,
                    "y": 0.00032530169119127095,
                    "z": 0.0010143688414245844
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.12348800152540207,
                "transform": {
                    "location": {
                        "x": 2230.229736328125,
                        "y": 2524.293701171875,
                        "z": 366.3560485839844
                    },
                    "rotation": {
                        "roll": 0.04656640812754631,
                        "pitch": -1.7810331583023071,
                        "yaw": 178.42332458496094
                    }
                },
                "velocity": {
                    "x": -0.12338658422231674,
                    "y": 0.002897311933338642,
                    "z": -0.004079713951796293
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.3513991832733154,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2486.928466796875,
                        "z": 364.9892578125
                    },
                    "rotation": {
                        "roll": -0.0012817446840927005,
                        "pitch": 0.39492833614349365,
                        "yaw": 89.9732437133789
                    }
                },
                "velocity": {
                    "x": -0.0016809185035526752,
                    "y": 1.3513745069503784,
                    "z": 0.007995681837201118
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9578588008880615,
                "transform": {
                    "location": {
                        "x": 2197.370849609375,
                        "y": 2524.31787109375,
                        "z": 365.4417419433594
                    },
                    "rotation": {
                        "roll": -0.009490965865552425,
                        "pitch": -1.3924227952957153,
                        "yaw": 179.85121154785156
                    }
                },
                "velocity": {
                    "x": -2.9569756984710693,
                    "y": 0.007027450017631054,
                    "z": -0.07192345708608627
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005957139073871076,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.553466796875,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.02591373585164547,
                        "yaw": -89.77801513671875
                    }
                },
                "velocity": {
                    "x": -2.0399702407303266e-05,
                    "y": 1.683235495875124e-05,
                    "z": 0.0005951265338808298
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.365140676498413,
                "transform": {
                    "location": {
                        "x": 2170.33544921875,
                        "y": 2527.33349609375,
                        "z": 364.87322998046875
                    },
                    "rotation": {
                        "roll": 0.0012090849922969937,
                        "pitch": 0.8944541811943054,
                        "yaw": -0.1307373046875
                    }
                },
                "velocity": {
                    "x": 3.364640951156616,
                    "y": -0.0096614770591259,
                    "z": 0.05717286840081215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003434815153013915,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0026967318262904882,
                        "pitch": 0.21808110177516937,
                        "yaw": -179.7993927001953
                    }
                },
                "velocity": {
                    "x": 1.1918432392121758e-05,
                    "y": 3.247628046665341e-05,
                    "z": -0.00034173496533185244
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003320189716760069,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.3918913282395806e-05,
                    "y": 1.16298970169737e-05,
                    "z": 0.000331523158820346
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9660770297050476,
                "transform": {
                    "location": {
                        "x": 2155.22265625,
                        "y": 2527.345947265625,
                        "z": 364.7445373535156
                    },
                    "rotation": {
                        "roll": 0.002143703866750002,
                        "pitch": 0.032498039305210114,
                        "yaw": 1.2067997455596924
                    }
                },
                "velocity": {
                    "x": 0.9660724997520447,
                    "y": 0.0023653809912502766,
                    "z": -0.0017601489089429379
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2023181915283203,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2498.080322265625,
                        "z": 365.0697937011719
                    },
                    "rotation": {
                        "roll": 0.0009395317756570876,
                        "pitch": 0.22599728405475616,
                        "yaw": 90.05704498291016
                    }
                },
                "velocity": {
                    "x": -0.0032841344363987446,
                    "y": 2.2022838592529297,
                    "z": 0.01183350570499897
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.17001087963581085,
                "transform": {
                    "location": {
                        "x": 2185.006103515625,
                        "y": 2508.427978515625,
                        "z": 365.11846923828125
                    },
                    "rotation": {
                        "roll": 5.681644688593224e-05,
                        "pitch": 0.2356756627559662,
                        "yaw": 90.19146728515625
                    }
                },
                "velocity": {
                    "x": -0.0007701833383180201,
                    "y": 0.17000725865364075,
                    "z": 0.00079936976544559
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.264084815979004,
                "transform": {
                    "location": {
                        "x": 2207.827392578125,
                        "y": 2524.29638671875,
                        "z": 365.6922607421875
                    },
                    "rotation": {
                        "roll": -0.0006103516207076609,
                        "pitch": -1.5683274269104004,
                        "yaw": 179.92050170898438
                    }
                },
                "velocity": {
                    "x": -2.263280153274536,
                    "y": 0.003965052776038647,
                    "z": -0.06022524833679199
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.017876386642456,
                "transform": {
                    "location": {
                        "x": 2185.040283203125,
                        "y": 2473.73193359375,
                        "z": 364.90087890625
                    },
                    "rotation": {
                        "roll": 0.0008584988536313176,
                        "pitch": 0.4746776223182678,
                        "yaw": 90.11685943603516
                    }
                },
                "velocity": {
                    "x": -0.003392537822946906,
                    "y": 2.0178017616271973,
                    "z": 0.0170088279992342
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15056151151657104,
        "expert_target_speed": 0.0,
        "target_point": [
            28.003109589044925,
            11.901700632345216
        ],
        "target_point_next": [
            28.003109589044925,
            11.901700632345216
        ]
    },
    "450": {
        "acceleration": [
            0.449906587600708,
            0.1066330075263977,
            -0.004934594035148621
        ],
        "angular_velocity": [
            0.21868641674518585,
            -0.20399153232574463,
            6.439733028411865
        ],
        "forward_vector": [
            -0.9211825132369995,
            0.38864466547966003,
            -0.019445741549134254
        ],
        "right_vector": [
            -0.3885705769062042,
            -0.9213875532150269,
            -0.007607617415487766
        ],
        "location": [
            2178.3369140625,
            2523.73095703125,
            365.0242004394531
        ],
        "rotation": [
            0.4359709918498993,
            -1.1142292022705078,
            157.125244140625
        ],
        "velocity": [
            -0.9507244825363159,
            0.2064633071422577,
            -0.020102128386497498
        ],
        "speed": 0.9728844427217777,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 8.179461479187012,
        "front_vehicle_info": {
            "id": 85976,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2170.993896484375,
                2527.33154296875,
                364.8846740722656
            ],
            "velocity": [
                1.808227777481079,
                -0.005307431798428297,
                0.03362590819597244
            ],
            "speed_kmh": 6.510773494187804,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.9854450821876526,
                "transform": {
                    "location": {
                        "x": 2143.044677734375,
                        "y": 2527.349609375,
                        "z": 364.7690124511719
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.49942341446876526,
                        "yaw": 0.40826156735420227
                    }
                },
                "velocity": {
                    "x": 0.9854333400726318,
                    "y": -0.0014491009060293436,
                    "z": -0.004584417212754488
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8907521963119507,
                "transform": {
                    "location": {
                        "x": 2187.885986328125,
                        "y": 2561.41796875,
                        "z": 365.1251220703125
                    },
                    "rotation": {
                        "roll": -0.0037536772433668375,
                        "pitch": -0.49813932180404663,
                        "yaw": -90.12798309326172
                    }
                },
                "velocity": {
                    "x": 0.021989064291119576,
                    "y": -1.8906186819076538,
                    "z": 0.004640884231775999
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.402987480163574,
                "transform": {
                    "location": {
                        "x": 2185.124755859375,
                        "y": 2456.286865234375,
                        "z": 364.7309265136719
                    },
                    "rotation": {
                        "roll": 0.0025295403320342302,
                        "pitch": 0.7370388507843018,
                        "yaw": 90.6641845703125
                    }
                },
                "velocity": {
                    "x": -0.06150628253817558,
                    "y": 4.402312755584717,
                    "z": 0.04645438864827156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.067602634429932,
                "transform": {
                    "location": {
                        "x": 2218.64599609375,
                        "y": 2524.27099609375,
                        "z": 366.0029602050781
                    },
                    "rotation": {
                        "roll": -0.00024414055224042386,
                        "pitch": -1.4143954515457153,
                        "yaw": 179.9202880859375
                    }
                },
                "velocity": {
                    "x": -4.065821170806885,
                    "y": 0.007570821326225996,
                    "z": -0.12014787644147873
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.1857361793518066,
                "transform": {
                    "location": {
                        "x": 2187.900146484375,
                        "y": 2550.064697265625,
                        "z": 365.1566467285156
                    },
                    "rotation": {
                        "roll": -0.0017089927569031715,
                        "pitch": 0.13609834015369415,
                        "yaw": -89.9297866821289
                    }
                },
                "velocity": {
                    "x": 0.002257910091429949,
                    "y": -1.185731291770935,
                    "z": 0.0025474547874182463
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9130749702453613,
                "transform": {
                    "location": {
                        "x": 2230.09814453125,
                        "y": 2524.294677734375,
                        "z": 366.35211181640625
                    },
                    "rotation": {
                        "roll": 0.03640090674161911,
                        "pitch": -1.6980873346328735,
                        "yaw": 178.51953125
                    }
                },
                "velocity": {
                    "x": -0.9125835299491882,
                    "y": 0.005742026958614588,
                    "z": -0.029398765414953232
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.842146635055542,
                "transform": {
                    "location": {
                        "x": 2185.0224609375,
                        "y": 2487.33056640625,
                        "z": 364.9920654296875
                    },
                    "rotation": {
                        "roll": -0.0005493359640240669,
                        "pitch": 0.3895256817340851,
                        "yaw": 89.94315338134766
                    }
                },
                "velocity": {
                    "x": -0.0017515344079583883,
                    "y": 1.8421088457107544,
                    "z": 0.011666965670883656
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85973,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.6630947589874268,
                "transform": {
                    "location": {
                        "x": 2196.6689453125,
                        "y": 2524.3193359375,
                        "z": 365.42474365234375
                    },
                    "rotation": {
                        "roll": 0.011896099895238876,
                        "pitch": -1.363824725151062,
                        "yaw": 179.85818481445312
                    }
                },
                "velocity": {
                    "x": -2.662318706512451,
                    "y": 0.005913630127906799,
                    "z": -0.06402043998241425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00015565693320240825,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.553466796875,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.02591373585164547,
                        "yaw": -89.77801513671875
                    }
                },
                "velocity": {
                    "x": 2.748605766100809e-05,
                    "y": 8.287513537652558e-07,
                    "z": 0.00015320871898438781
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8085482120513916,
                "transform": {
                    "location": {
                        "x": 2170.993896484375,
                        "y": 2527.33154296875,
                        "z": 364.8846740722656
                    },
                    "rotation": {
                        "roll": 0.0004560491943266243,
                        "pitch": 0.7969669103622437,
                        "yaw": -0.147186279296875
                    }
                },
                "velocity": {
                    "x": 1.808227777481079,
                    "y": -0.005307431798428297,
                    "z": 0.03362590819597244
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003079173038713634,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0024505998007953167,
                        "pitch": 0.218142569065094,
                        "yaw": -179.7993927001953
                    }
                },
                "velocity": {
                    "x": 8.87379064806737e-06,
                    "y": 1.6777759810793214e-05,
                    "z": -0.00030733179301023483
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.6960751458536834e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 8.91204945219215e-06,
                    "y": 9.37637196329888e-06,
                    "z": -3.462305903667584e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.8391653299331665,
                "transform": {
                    "location": {
                        "x": 2155.54443359375,
                        "y": 2527.34814453125,
                        "z": 364.7433776855469
                    },
                    "rotation": {
                        "roll": 0.014299526810646057,
                        "pitch": 0.2167765349149704,
                        "yaw": 1.0080265998840332
                    }
                },
                "velocity": {
                    "x": 1.8391592502593994,
                    "y": 0.0021403918508440256,
                    "z": 0.004230804275721312
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8906837701797485,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2498.62890625,
                        "z": 365.0721435546875
                    },
                    "rotation": {
                        "roll": 0.0006196883041411638,
                        "pitch": 0.30471521615982056,
                        "yaw": 90.0642318725586
                    }
                },
                "velocity": {
                    "x": -0.0020201599691063166,
                    "y": 1.8906538486480713,
                    "z": 0.010442743077874184
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.0882956981658936,
                "transform": {
                    "location": {
                        "x": 2185.005859375,
                        "y": 2508.57861328125,
                        "z": 365.11962890625
                    },
                    "rotation": {
                        "roll": -3.0515857361024246e-05,
                        "pitch": 0.1618003398180008,
                        "yaw": 90.19658660888672
                    }
                },
                "velocity": {
                    "x": -0.0020774081349372864,
                    "y": 1.0882898569107056,
                    "z": 0.0028923035133630037
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.1506229639053345,
                "transform": {
                    "location": {
                        "x": 2207.66796875,
                        "y": 2524.295654296875,
                        "z": 365.68804931640625
                    },
                    "rotation": {
                        "roll": 0.0035291353706270456,
                        "pitch": -1.6008323431015015,
                        "yaw": 179.78671264648438
                    }
                },
                "velocity": {
                    "x": -1.1503479480743408,
                    "y": 0.0052202255465090275,
                    "z": -0.02460743859410286
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7005829215049744,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2473.974365234375,
                        "z": 364.9019470214844
                    },
                    "rotation": {
                        "roll": 0.00013546430272981524,
                        "pitch": 0.614518940448761,
                        "yaw": 89.90807342529297
                    }
                },
                "velocity": {
                    "x": -0.0024835045915097,
                    "y": 0.7005565762519836,
                    "z": 0.005542392376810312
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.19016499817371368,
        "expert_target_speed": 0.0,
        "target_point": [
            28.104370612956217,
            10.99464431676127
        ],
        "target_point_next": [
            28.104370612956217,
            10.99464431676127
        ]
    },
    "455": {
        "acceleration": [
            -0.0070726871490478516,
            -0.4400506615638733,
            0.004822947084903717
        ],
        "angular_velocity": [
            -0.37646353244781494,
            0.11918117851018906,
            6.925853252410889
        ],
        "forward_vector": [
            -0.9321624636650085,
            0.36152133345603943,
            -0.0193775687366724
        ],
        "right_vector": [
            -0.3614557385444641,
            -0.9323636293411255,
            -0.006909223739057779
        ],
        "location": [
            2178.101806640625,
            2523.782470703125,
            365.019287109375
        ],
        "rotation": [
            0.39594683051109314,
            -1.11032235622406,
            158.8021697998047
        ],
        "velocity": [
            -0.9470663070678711,
            0.1612430214881897,
            -0.019746826961636543
        ],
        "speed": 0.9606944893991096,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": -1,
            "lane_type": "Driving",
            "lane_width": 2.5,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 7.894871234893799,
        "front_vehicle_info": {
            "id": 85976,
            "type": "vehicle.mercedes.coupe_2020",
            "location": [
                2171.05078125,
                2527.331298828125,
                364.88568115234375
            ],
            "velocity": [
                -0.0028249274473637342,
                0.00022422129404731095,
                0.0012579028261825442
            ],
            "speed_kmh": 0.01116163137271245,
            "color": "187,187,187"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0060983896255493,
                "transform": {
                    "location": {
                        "x": 2143.156005859375,
                        "y": 2527.349365234375,
                        "z": 364.7668762207031
                    },
                    "rotation": {
                        "roll": -0.001953125,
                        "pitch": -0.2965121567249298,
                        "yaw": 0.43248289823532104
                    }
                },
                "velocity": {
                    "x": 1.006068468093872,
                    "y": 0.0066032567992806435,
                    "z": 0.004063148517161608
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.2973701059818268,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2561.350830078125,
                        "z": 365.12628173828125
                    },
                    "rotation": {
                        "roll": 0.015074155293405056,
                        "pitch": -0.8016592860221863,
                        "yaw": -90.2026596069336
                    }
                },
                "velocity": {
                    "x": -0.000199317597434856,
                    "y": -0.29736462235450745,
                    "z": 0.0017934798961505294
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.302254676818848,
                "transform": {
                    "location": {
                        "x": 2185.113037109375,
                        "y": 2457.540771484375,
                        "z": 364.7445373535156
                    },
                    "rotation": {
                        "roll": 0.010614844970405102,
                        "pitch": 0.7534996271133423,
                        "yaw": 90.56080627441406
                    }
                },
                "velocity": {
                    "x": -0.04703992232680321,
                    "y": 5.301759719848633,
                    "z": 0.055125996470451355
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.247296333312988,
                "transform": {
                    "location": {
                        "x": 2217.530517578125,
                        "y": 2524.272705078125,
                        "z": 365.9708251953125
                    },
                    "rotation": {
                        "roll": -0.00030517575214616954,
                        "pitch": -1.5629247426986694,
                        "yaw": 179.89805603027344
                    }
                },
                "velocity": {
                    "x": -4.245540142059326,
                    "y": 0.009065606631338596,
                    "z": -0.12179238349199295
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.920173168182373,
                "transform": {
                    "location": {
                        "x": 2187.900390625,
                        "y": 2549.662353515625,
                        "z": 365.15740966796875
                    },
                    "rotation": {
                        "roll": -0.0003357016248628497,
                        "pitch": 0.1900704950094223,
                        "yaw": -89.89053344726562
                    }
                },
                "velocity": {
                    "x": 0.00347745674662292,
                    "y": -1.9201687574386597,
                    "z": 0.002167453756555915
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8801136016845703,
                "transform": {
                    "location": {
                        "x": 2229.748291015625,
                        "y": 2524.296875,
                        "z": 366.34130859375
                    },
                    "rotation": {
                        "roll": 0.030719147995114326,
                        "pitch": -1.6564915180206299,
                        "yaw": 178.68113708496094
                    }
                },
                "velocity": {
                    "x": -1.8791764974594116,
                    "y": 0.01155981793999672,
                    "z": -0.05821843445301056
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8839606046676636,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2487.83544921875,
                        "z": 364.9953918457031
                    },
                    "rotation": {
                        "roll": -0.00042724295053631067,
                        "pitch": 0.3776889443397522,
                        "yaw": 89.96971130371094
                    }
                },
                "velocity": {
                    "x": -0.002203799784183502,
                    "y": 1.8839176893234253,
                    "z": 0.012512664310634136
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.3072388760047033e-05,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.553466796875,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.02591373585164547,
                        "yaw": -89.77801513671875
                    }
                },
                "velocity": {
                    "x": -4.760214324051049e-06,
                    "y": -1.7128977560787462e-06,
                    "z": 3.26831650454551e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0031004531774669886,
                "transform": {
                    "location": {
                        "x": 2171.05078125,
                        "y": 2527.331298828125,
                        "z": 364.88568115234375
                    },
                    "rotation": {
                        "roll": -0.0024414060171693563,
                        "pitch": 0.7634511590003967,
                        "yaw": -0.1622619479894638
                    }
                },
                "velocity": {
                    "x": -0.0028249274473637342,
                    "y": 0.00022422129404731095,
                    "z": 0.0012579028261825442
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00035768753150478005,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.002425942337140441,
                        "pitch": 0.21808110177516937,
                        "yaw": -179.79937744140625
                    }
                },
                "velocity": {
                    "x": 1.190308466902934e-05,
                    "y": 1.3169928024581168e-05,
                    "z": -0.0003572467539925128
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006231212173588574,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 9.75053717411356e-06,
                    "y": -1.067345237970585e-05,
                    "z": 0.0006229535210877657
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.195915460586548,
                "transform": {
                    "location": {
                        "x": 2156.170654296875,
                        "y": 2527.350830078125,
                        "z": 364.7440185546875
                    },
                    "rotation": {
                        "roll": 0.01746138371527195,
                        "pitch": 0.3623825013637543,
                        "yaw": 0.7696973085403442
                    }
                },
                "velocity": {
                    "x": 3.1959023475646973,
                    "y": 0.003548351349309087,
                    "z": 0.008479347452521324
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001401520217768848,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.73583984375,
                        "z": 365.07159423828125
                    },
                    "rotation": {
                        "roll": 0.0015738195506855845,
                        "pitch": 0.4477735161781311,
                        "yaw": 90.10198211669922
                    }
                },
                "velocity": {
                    "x": -0.00014953517529647797,
                    "y": -0.0009260663646273315,
                    "z": -0.0010412968695163727
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2737681269645691,
                "transform": {
                    "location": {
                        "x": 2185.00439453125,
                        "y": 2508.76708984375,
                        "z": 365.1192932128906
                    },
                    "rotation": {
                        "roll": -0.001007090206257999,
                        "pitch": 0.265830934047699,
                        "yaw": 90.00531768798828
                    }
                },
                "velocity": {
                    "x": -0.0005549165653064847,
                    "y": 0.27376705408096313,
                    "z": 0.0005295753362588584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.868526577949524,
                "transform": {
                    "location": {
                        "x": 2207.34130859375,
                        "y": 2524.29736328125,
                        "z": 365.67889404296875
                    },
                    "rotation": {
                        "roll": 0.0005699085886590183,
                        "pitch": -1.4989874362945557,
                        "yaw": 179.8748321533203
                    }
                },
                "velocity": {
                    "x": -1.867836833000183,
                    "y": 0.008085384964942932,
                    "z": -0.05011769011616707
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6161795854568481,
                "transform": {
                    "location": {
                        "x": 2185.0390625,
                        "y": 2474.271484375,
                        "z": 364.90582275390625
                    },
                    "rotation": {
                        "roll": 0.00025444483617320657,
                        "pitch": 0.423533171415329,
                        "yaw": 89.9287338256836
                    }
                },
                "velocity": {
                    "x": -0.0029204916208982468,
                    "y": 1.61612868309021,
                    "z": 0.012485980987548828
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.18464741110801697,
        "expert_target_speed": 0.0,
        "target_point": [
            28.176246208503468,
            10.130529586864974
        ],
        "target_point_next": [
            28.176246208503468,
            10.130529586864974
        ]
    },
    "460": {
        "acceleration": [
            0.74684739112854,
            0.12398332357406616,
            0.017947964370250702
        ],
        "angular_velocity": [
            0.21803531050682068,
            -0.26033681631088257,
            5.481594562530518
        ],
        "forward_vector": [
            -0.9416598081588745,
            0.3359777629375458,
            -0.01989292912185192
        ],
        "right_vector": [
            -0.33591118454933167,
            -0.9418697953224182,
            -0.006698676384985447
        ],
        "location": [
            2177.881103515625,
            2523.824462890625,
            365.01507568359375
        ],
        "rotation": [
            0.3838847279548645,
            -1.1398561000823975,
            160.36395263671875
        ],
        "velocity": [
            -0.8211918473243713,
            0.1315649002790451,
            -0.016717977821826935
        ],
        "speed": 0.8316642189594601,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.745662212371826,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2719142436981201,
                "transform": {
                    "location": {
                        "x": 2143.460205078125,
                        "y": 2527.349609375,
                        "z": 364.7655029296875
                    },
                    "rotation": {
                        "roll": -0.0010681151179596782,
                        "pitch": -0.22232264280319214,
                        "yaw": 0.42729511857032776
                    }
                },
                "velocity": {
                    "x": 1.2718979120254517,
                    "y": 0.001517463126219809,
                    "z": -0.00627243984490633
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.2363590002059937,
                "transform": {
                    "location": {
                        "x": 2187.88720703125,
                        "y": 2561.12646484375,
                        "z": 365.123779296875
                    },
                    "rotation": {
                        "roll": 0.003127479460090399,
                        "pitch": 0.11904335767030716,
                        "yaw": -90.1341323852539
                    }
                },
                "velocity": {
                    "x": 0.0012981838081032038,
                    "y": -1.2363516092300415,
                    "z": 0.004087714944034815
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.821814060211182,
                "transform": {
                    "location": {
                        "x": 2185.1015625,
                        "y": 2458.900146484375,
                        "z": 364.75830078125
                    },
                    "rotation": {
                        "roll": 0.006861784029752016,
                        "pitch": 0.6629313230514526,
                        "yaw": 90.50153350830078
                    }
                },
                "velocity": {
                    "x": -0.04863092303276062,
                    "y": 5.821300506591797,
                    "z": 0.06013358756899834
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.823079824447632,
                "transform": {
                    "location": {
                        "x": 2216.66015625,
                        "y": 2524.274658203125,
                        "z": 365.9456481933594
                    },
                    "rotation": {
                        "roll": -0.0013427732046693563,
                        "pitch": -1.8022682666778564,
                        "yaw": 179.8916015625
                    }
                },
                "velocity": {
                    "x": -2.8219246864318848,
                    "y": 0.0055966442450881,
                    "z": -0.08055581897497177
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017754615982994437,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2549.4931640625,
                        "z": 365.15716552734375
                    },
                    "rotation": {
                        "roll": -0.0013122525997459888,
                        "pitch": -0.11400951445102692,
                        "yaw": -89.78154754638672
                    }
                },
                "velocity": {
                    "x": 3.781962732318789e-05,
                    "y": 0.0015032074879854918,
                    "z": 0.0009440344292670488
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9708251953125,
                "transform": {
                    "location": {
                        "x": 2229.21435546875,
                        "y": 2524.29833984375,
                        "z": 366.32464599609375
                    },
                    "rotation": {
                        "roll": 0.01669212616980076,
                        "pitch": -1.7589101791381836,
                        "yaw": 179.21307373046875
                    }
                },
                "velocity": {
                    "x": -1.9698504209518433,
                    "y": 0.0073433201760053635,
                    "z": -0.061540134251117706
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.5905046463012695,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2487.970703125,
                        "z": 364.9966735839844
                    },
                    "rotation": {
                        "roll": 0.000765248027164489,
                        "pitch": 0.3399589955806732,
                        "yaw": 89.97908020019531
                    }
                },
                "velocity": {
                    "x": -0.0010618985397741199,
                    "y": 0.5904927849769592,
                    "z": 0.003592071356251836
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16796875,
                        "y": 2442.78271484375,
                        "z": 364.8864440917969
                    },
                    "rotation": {
                        "roll": -2.668230791869064e-08,
                        "pitch": 0.6808263659477234,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.30126953125,
                        "z": 365.3340148925781
                    },
                    "rotation": {
                        "roll": -2.6680980980131608e-08,
                        "pitch": 0.3695405423641205,
                        "yaw": -89.93964385986328
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002706478117033839,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.553466796875,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.02591373585164547,
                        "yaw": -89.77801513671875
                    }
                },
                "velocity": {
                    "x": 3.3848102702904725e-06,
                    "y": -3.199872935510939e-06,
                    "z": 0.000270607735728845
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0019623469561338425,
                "transform": {
                    "location": {
                        "x": 2171.05224609375,
                        "y": 2527.331298828125,
                        "z": 364.8860168457031
                    },
                    "rotation": {
                        "roll": -0.0013122556265443563,
                        "pitch": 0.9458581805229187,
                        "yaw": -0.16223140060901642
                    }
                },
                "velocity": {
                    "x": -0.000782544317189604,
                    "y": 0.0005630987579934299,
                    "z": 0.0017091957852244377
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3630545911146328e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0027119654696434736,
                        "pitch": 0.21823136508464813,
                        "yaw": -179.7993621826172
                    }
                },
                "velocity": {
                    "x": 4.933029345011164e-07,
                    "y": 1.4413390090339817e-05,
                    "z": -1.8719334548222832e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00040320452535524964,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 7.419027042487869e-06,
                    "y": 2.437707053104532e-06,
                    "z": 0.00040312891360372305
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.21247673034668,
                "transform": {
                    "location": {
                        "x": 2157.234130859375,
                        "y": 2527.354248046875,
                        "z": 364.7449035644531
                    },
                    "rotation": {
                        "roll": 0.017501050606369972,
                        "pitch": 0.6127498745918274,
                        "yaw": 0.43903642892837524
                    }
                },
                "velocity": {
                    "x": 5.21245002746582,
                    "y": -0.00010450471745571122,
                    "z": 0.016643352806568146
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015488297212868929,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.7353515625,
                        "z": 365.0726013183594
                    },
                    "rotation": {
                        "roll": 0.00046433997340500355,
                        "pitch": 0.31921571493148804,
                        "yaw": 90.10200500488281
                    }
                },
                "velocity": {
                    "x": -5.450274329632521e-07,
                    "y": -0.00028682779520750046,
                    "z": -0.0015220391796901822
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003606294631026685,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1197509765625
                    },
                    "rotation": {
                        "roll": -0.0005798504571430385,
                        "pitch": 0.23206248879432678,
                        "yaw": 89.97049713134766
                    }
                },
                "velocity": {
                    "x": 0.0001459184568375349,
                    "y": -0.0001925506949191913,
                    "z": 0.00026774173602461815
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4151225090026855,
                "transform": {
                    "location": {
                        "x": 2206.662841796875,
                        "y": 2524.299072265625,
                        "z": 365.6603088378906
                    },
                    "rotation": {
                        "roll": -0.0010986329289153218,
                        "pitch": -1.4371331930160522,
                        "yaw": 179.91603088378906
                    }
                },
                "velocity": {
                    "x": -3.4139082431793213,
                    "y": 0.008816118352115154,
                    "z": -0.09063432365655899
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.2410261631011963,
                "transform": {
                    "location": {
                        "x": 2185.038818359375,
                        "y": 2474.7763671875,
                        "z": 364.9100341796875
                    },
                    "rotation": {
                        "roll": 0.00044354633428156376,
                        "pitch": 0.4021342098712921,
                        "yaw": 89.96827697753906
                    }
                },
                "velocity": {
                    "x": -0.004232474602758884,
                    "y": 2.2409510612487793,
                    "z": 0.017863674089312553
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.15002430975437164,
        "expert_target_speed": 0.0,
        "target_point": [
            28.219911707098476,
            9.324192744113873
        ],
        "target_point_next": [
            28.219911707098476,
            9.324192744113873
        ]
    },
    "465": {
        "acceleration": [
            0.09114861488342285,
            -0.3819526731967926,
            0.0031835585832595825
        ],
        "angular_velocity": [
            -0.4024650454521179,
            0.12828122079372406,
            5.215435028076172
        ],
        "forward_vector": [
            -0.9491434693336487,
            0.3141886293888092,
            -0.020303044468164444
        ],
        "right_vector": [
            -0.3141227960586548,
            -0.9493605494499207,
            -0.006435228977352381
        ],
        "location": [
            2177.6943359375,
            2523.85498046875,
            365.01129150390625
        ],
        "rotation": [
            0.36879000067710876,
            -1.1633586883544922,
            161.6842498779297
        ],
        "velocity": [
            -0.706845760345459,
            0.08256568759679794,
            -0.013876456767320633
        ],
        "speed": 0.7116516153896385,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.556796073913574,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.0088446140289307,
                "transform": {
                    "location": {
                        "x": 2143.861083984375,
                        "y": 2527.3505859375,
                        "z": 364.7638244628906
                    },
                    "rotation": {
                        "roll": -0.0014648438664153218,
                        "pitch": -0.21485042572021484,
                        "yaw": 0.3669017553329468
                    }
                },
                "velocity": {
                    "x": 1.0088361501693726,
                    "y": 0.0019532472360879183,
                    "z": -0.0036425781436264515
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.172154426574707,
                "transform": {
                    "location": {
                        "x": 2187.886962890625,
                        "y": 2560.699951171875,
                        "z": 365.1241760253906
                    },
                    "rotation": {
                        "roll": 0.000340639497153461,
                        "pitch": 0.4498157501220703,
                        "yaw": -90.08550262451172
                    }
                },
                "velocity": {
                    "x": 0.002335276920348406,
                    "y": -2.1721415519714355,
                    "z": 0.007114753592759371
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.773446559906006,
                "transform": {
                    "location": {
                        "x": 2185.0869140625,
                        "y": 2460.672607421875,
                        "z": 364.7765808105469
                    },
                    "rotation": {
                        "roll": 0.006986525375396013,
                        "pitch": 0.8164739608764648,
                        "yaw": 90.4987564086914
                    }
                },
                "velocity": {
                    "x": -0.06357704848051071,
                    "y": 7.772799968719482,
                    "z": 0.07749057561159134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00039518612902611494,
                "transform": {
                    "location": {
                        "x": 2216.2587890625,
                        "y": 2524.275390625,
                        "z": 365.9338684082031
                    },
                    "rotation": {
                        "roll": -0.0029296870343387127,
                        "pitch": -2.0716235637664795,
                        "yaw": 179.9481658935547
                    }
                },
                "velocity": {
                    "x": -0.0002513262443244457,
                    "y": 0.00012721121311187744,
                    "z": 0.00027717233751900494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0014600757276639342,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2549.49169921875,
                        "z": 365.1573791503906
                    },
                    "rotation": {
                        "roll": 0.0005255260621197522,
                        "pitch": 0.03043532185256481,
                        "yaw": -89.78157806396484
                    }
                },
                "velocity": {
                    "x": 0.00014913605991750956,
                    "y": 0.0005969144403934479,
                    "z": 0.0013241119449958205
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9401149749755859,
                "transform": {
                    "location": {
                        "x": 2229.06005859375,
                        "y": 2524.298583984375,
                        "z": 366.31976318359375
                    },
                    "rotation": {
                        "roll": 0.015282941050827503,
                        "pitch": -1.8669706583023071,
                        "yaw": 179.3540496826172
                    }
                },
                "velocity": {
                    "x": -0.9396355748176575,
                    "y": 0.00033214446739293635,
                    "z": -0.030017517507076263
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00026976328808814287,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.13525390625,
                        "z": 364.99755859375
                    },
                    "rotation": {
                        "roll": 0.001241650665178895,
                        "pitch": 0.35467803478240967,
                        "yaw": 89.9883804321289
                    }
                },
                "velocity": {
                    "x": -0.00023200782015919685,
                    "y": 8.243519550887868e-05,
                    "z": 0.0001102227033698
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.165771484375,
                        "y": 2444.609375,
                        "z": 364.7433166503906
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.004772935528308153,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.300537109375,
                        "z": 365.0444030761719
                    },
                    "rotation": {
                        "roll": 0.000954017392359674,
                        "pitch": 0.3594045341014862,
                        "yaw": -89.93962860107422
                    }
                },
                "velocity": {
                    "x": -0.00011252596596023068,
                    "y": 3.070913226110861e-05,
                    "z": 0.004771510139107704
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.805736822774634e-05,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.553466796875,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.02591373585164547,
                        "yaw": -89.77801513671875
                    }
                },
                "velocity": {
                    "x": -4.439357780938735e-06,
                    "y": 6.245649274205789e-06,
                    "z": 7.76803499320522e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00022965946118347347,
                "transform": {
                    "location": {
                        "x": 2171.052490234375,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0012889078352600336,
                        "pitch": 0.9851864576339722,
                        "yaw": -0.1621703952550888
                    }
                },
                "velocity": {
                    "x": -0.00017127676983363926,
                    "y": -1.0059794476546813e-05,
                    "z": -0.0001526647829450667
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.948210410773754e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.002464039484038949,
                        "pitch": 0.21801279485225677,
                        "yaw": -179.7993621826172
                    }
                },
                "velocity": {
                    "x": 9.465328730584588e-06,
                    "y": 1.834364752539841e-06,
                    "z": -1.6929117919062264e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00017824333917815238,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.0597928849165328e-05,
                    "y": -2.222244074800983e-05,
                    "z": -0.00017653479881118983
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.897042274475098,
                "transform": {
                    "location": {
                        "x": 2158.61376953125,
                        "y": 2527.35595703125,
                        "z": 364.7494812011719
                    },
                    "rotation": {
                        "roll": 0.01004262175410986,
                        "pitch": 0.5463126301765442,
                        "yaw": 0.15187640488147736
                    }
                },
                "velocity": {
                    "x": 5.897014141082764,
                    "y": -0.0073363641276955605,
                    "z": 0.016637763008475304
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.7353515625,
                        "z": 365.0726013183594
                    },
                    "rotation": {
                        "roll": 0.00046433997340500355,
                        "pitch": 0.31921571493148804,
                        "yaw": 90.10200500488281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009277966455556452,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201171875
                    },
                    "rotation": {
                        "roll": -0.0003356949600856751,
                        "pitch": 0.19084914028644562,
                        "yaw": 89.97049713134766
                    }
                },
                "velocity": {
                    "x": -0.00013577086792793125,
                    "y": -0.00012753029295708984,
                    "z": 0.0009089053492061794
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.542740345001221,
                "transform": {
                    "location": {
                        "x": 2205.65869140625,
                        "y": 2524.299560546875,
                        "z": 365.633544921875
                    },
                    "rotation": {
                        "roll": 0.0028580809012055397,
                        "pitch": -1.445950984954834,
                        "yaw": 179.74490356445312
                    }
                },
                "velocity": {
                    "x": -4.541114330291748,
                    "y": 0.009897301904857159,
                    "z": -0.12113599479198456
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0016803278122097254,
                "transform": {
                    "location": {
                        "x": 2185.03857421875,
                        "y": 2475.146240234375,
                        "z": 364.9110107421875
                    },
                    "rotation": {
                        "roll": -0.0007019273471087217,
                        "pitch": 0.6515794992446899,
                        "yaw": 89.98959350585938
                    }
                },
                "velocity": {
                    "x": -7.015182927716523e-05,
                    "y": 0.001369129866361618,
                    "z": 0.0009716295171529055
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.13527518510818481,
        "expert_target_speed": 0.0,
        "target_point": [
            28.24036774460703,
            8.641764773130173
        ],
        "target_point_next": [
            28.24036774460703,
            8.641764773130173
        ]
    },
    "470": {
        "acceleration": [
            -0.45289039611816406,
            0.29225990176200867,
            -0.028073303401470184
        ],
        "angular_velocity": [
            0.07163288444280624,
            0.23740415275096893,
            4.5544939041137695
        ],
        "forward_vector": [
            -0.9554475545883179,
            0.29449474811553955,
            -0.019816888496279716
        ],
        "right_vector": [
            -0.29443517327308655,
            -0.9556530117988586,
            -0.0059247626923024654
        ],
        "location": [
            2177.51953125,
            2523.880615234375,
            365.0077209472656
        ],
        "rotation": [
            0.3395325541496277,
            -1.1354984045028687,
            162.86929321289062
        ],
        "velocity": [
            -0.7322646975517273,
            0.08999022096395493,
            -0.015119924210011959
        ],
        "speed": 0.7377735608909173,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.380321025848389,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.682847738265991,
                "transform": {
                    "location": {
                        "x": 2144.300048828125,
                        "y": 2527.351318359375,
                        "z": 364.7616271972656
                    },
                    "rotation": {
                        "roll": -0.00048828122089616954,
                        "pitch": -0.14011448621749878,
                        "yaw": 0.3090352416038513
                    }
                },
                "velocity": {
                    "x": 2.6828291416168213,
                    "y": 0.0035027111880481243,
                    "z": -0.009314460679888725
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3444772958755493,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2560.156005859375,
                        "z": 365.1268615722656
                    },
                    "rotation": {
                        "roll": 0.0017379098571836948,
                        "pitch": 0.22749993205070496,
                        "yaw": -90.04695892333984
                    }
                },
                "velocity": {
                    "x": 0.0010055189486593008,
                    "y": -1.3444666862487793,
                    "z": 0.0052307224832475185
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 6.97004508972168,
                "transform": {
                    "location": {
                        "x": 2185.073486328125,
                        "y": 2462.54296875,
                        "z": 364.794677734375
                    },
                    "rotation": {
                        "roll": 0.009223883971571922,
                        "pitch": 0.5383828282356262,
                        "yaw": 90.38126373291016
                    }
                },
                "velocity": {
                    "x": -0.0415169820189476,
                    "y": 6.969587802886963,
                    "z": 0.06822643429040909
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8475254774093628,
                "transform": {
                    "location": {
                        "x": 2216.162841796875,
                        "y": 2524.275390625,
                        "z": 365.93157958984375
                    },
                    "rotation": {
                        "roll": -0.001220703125,
                        "pitch": -1.680014729499817,
                        "yaw": 179.9425811767578
                    }
                },
                "velocity": {
                    "x": -0.8472023010253906,
                    "y": 0.0004004817456007004,
                    "z": -0.023399820551276207
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001980247674509883,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2549.491455078125,
                        "z": 365.1574401855469
                    },
                    "rotation": {
                        "roll": 0.0004669744521379471,
                        "pitch": 0.06479799747467041,
                        "yaw": -89.78155517578125
                    }
                },
                "velocity": {
                    "x": 2.547172516642604e-05,
                    "y": 0.0001723623281577602,
                    "z": 0.00197256775572896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9600882530212402,
                "transform": {
                    "location": {
                        "x": 2228.68505859375,
                        "y": 2524.298828125,
                        "z": 366.30853271484375
                    },
                    "rotation": {
                        "roll": 0.01062830351293087,
                        "pitch": -1.6943376064300537,
                        "yaw": 179.41275024414062
                    }
                },
                "velocity": {
                    "x": -1.959210753440857,
                    "y": 0.0021003251895308495,
                    "z": -0.0586053840816021
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003032027161680162,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.13525390625,
                        "z": 364.99749755859375
                    },
                    "rotation": {
                        "roll": 0.00229699001647532,
                        "pitch": 0.36068859696388245,
                        "yaw": 89.98834991455078
                    }
                },
                "velocity": {
                    "x": -4.966354390489869e-05,
                    "y": -4.3755619117291644e-05,
                    "z": 0.00029588997131213546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.163818359375,
                        "y": 2446.5,
                        "z": 364.6277160644531
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6664966344833374,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.24291905760765076,
                "transform": {
                    "location": {
                        "x": 2187.77685546875,
                        "y": 2576.296875,
                        "z": 365.07232666015625
                    },
                    "rotation": {
                        "roll": -0.0004577788640744984,
                        "pitch": 0.3687482178211212,
                        "yaw": -89.93761444091797
                    }
                },
                "velocity": {
                    "x": 0.003620527219027281,
                    "y": -0.22672204673290253,
                    "z": 0.08714170008897781
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005326420650817454,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.553466796875,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": -0.00015258786152116954,
                        "pitch": -0.02591373585164547,
                        "yaw": -89.77801513671875
                    }
                },
                "velocity": {
                    "x": 2.8099118480895413e-06,
                    "y": 7.079965143930167e-06,
                    "z": 0.0005325875827111304
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0001286973274545744,
                "transform": {
                    "location": {
                        "x": 2171.052734375,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0004095674667041749,
                        "pitch": 0.9963947534561157,
                        "yaw": -0.1621093600988388
                    }
                },
                "velocity": {
                    "x": -6.574764847755432e-05,
                    "y": -1.3098316230752971e-05,
                    "z": 0.00010985755216097459
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021876022219657898,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021428116597235203,
                        "pitch": 0.21816305816173553,
                        "yaw": -179.79934692382812
                    }
                },
                "velocity": {
                    "x": 4.59257489637821e-06,
                    "y": 1.1365315913280938e-05,
                    "z": 0.00021841652051080018
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00038749873056076467,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 5.696788321074564e-06,
                    "y": -4.0924082895799074e-06,
                    "z": 0.00038743525510653853
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5367332696914673,
                "transform": {
                    "location": {
                        "x": 2159.501708984375,
                        "y": 2527.358154296875,
                        "z": 364.7621765136719
                    },
                    "rotation": {
                        "roll": -0.00262451171875,
                        "pitch": -0.5888373851776123,
                        "yaw": -0.1654663234949112
                    }
                },
                "velocity": {
                    "x": 0.5366775989532471,
                    "y": 0.005615060683339834,
                    "z": 0.005313882604241371
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.7353515625,
                        "z": 365.0726013183594
                    },
                    "rotation": {
                        "roll": 0.00046433997340500355,
                        "pitch": 0.31921571493148804,
                        "yaw": 90.10200500488281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00018638453911989927,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": -8.265508949989453e-05,
                    "y": -2.8617456337087788e-05,
                    "z": 0.0001645854499656707
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.495847225189209,
                "transform": {
                    "location": {
                        "x": 2204.68408203125,
                        "y": 2524.302978515625,
                        "z": 365.6099853515625
                    },
                    "rotation": {
                        "roll": -0.0012817383976653218,
                        "pitch": -1.5982027053833008,
                        "yaw": 179.89859008789062
                    }
                },
                "velocity": {
                    "x": -2.49503755569458,
                    "y": 0.003982601687312126,
                    "z": -0.06344595551490784
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.1787209510803223,
                "transform": {
                    "location": {
                        "x": 2185.03857421875,
                        "y": 2475.319580078125,
                        "z": 364.91412353515625
                    },
                    "rotation": {
                        "roll": 0.0001232272625202313,
                        "pitch": 0.4450141191482544,
                        "yaw": 89.99368286132812
                    }
                },
                "velocity": {
                    "x": -9.200172644341365e-05,
                    "y": 1.1786946058273315,
                    "z": 0.007877864874899387
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11977167427539825,
        "expert_target_speed": 0.0,
        "target_point": [
            28.2384544029005,
            8.028862808989583
        ],
        "target_point_next": [
            28.2384544029005,
            8.028862808989583
        ]
    },
    "475": {
        "acceleration": [
            -1.3255560398101807,
            -0.13142600655555725,
            -0.024989917874336243
        ],
        "angular_velocity": [
            -0.39818692207336426,
            0.39407697319984436,
            6.258926868438721
        ],
        "forward_vector": [
            -0.9623429775238037,
            0.27120599150657654,
            -0.018529068678617477
        ],
        "right_vector": [
            -0.2711643874645233,
            -0.9625211954116821,
            -0.004768069833517075
        ],
        "location": [
            2177.306396484375,
            2523.908447265625,
            365.00311279296875
        ],
        "rotation": [
            0.2732382118701935,
            -1.0616981983184814,
            164.2611846923828
        ],
        "velocity": [
            -0.9895749688148499,
            0.09681916981935501,
            -0.01948363333940506
        ],
        "speed": 0.9943000405055911,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 6.165477275848389,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.7277664542198181,
                "transform": {
                    "location": {
                        "x": 2144.66748046875,
                        "y": 2527.36083984375,
                        "z": 364.7611999511719
                    },
                    "rotation": {
                        "roll": 0.005593586713075638,
                        "pitch": -0.32098472118377686,
                        "yaw": -0.5662841200828552
                    }
                },
                "velocity": {
                    "x": 0.727759063243866,
                    "y": 0.0009186273673549294,
                    "z": -0.003147878684103489
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.7747678160667419,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2560.060546875,
                        "z": 365.12847900390625
                    },
                    "rotation": {
                        "roll": 0.0015838013496249914,
                        "pitch": -0.07442856580018997,
                        "yaw": -90.0558090209961
                    }
                },
                "velocity": {
                    "x": 1.0063603440357838e-05,
                    "y": -0.7747653126716614,
                    "z": 0.0019684885628521442
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.9450509548187256,
                "transform": {
                    "location": {
                        "x": 2185.06396484375,
                        "y": 2463.88525390625,
                        "z": 364.8067932128906
                    },
                    "rotation": {
                        "roll": -0.025085456669330597,
                        "pitch": 0.06005784869194031,
                        "yaw": 89.60687255859375
                    }
                },
                "velocity": {
                    "x": -0.06460602581501007,
                    "y": 2.944216251373291,
                    "z": 0.027219494804739952
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.804968237876892,
                "transform": {
                    "location": {
                        "x": 2215.830322265625,
                        "y": 2524.276611328125,
                        "z": 365.92230224609375
                    },
                    "rotation": {
                        "roll": 0.002542357426136732,
                        "pitch": -1.5397021770477295,
                        "yaw": 179.83413696289062
                    }
                },
                "velocity": {
                    "x": -1.8042367696762085,
                    "y": 0.005676227621734142,
                    "z": -0.05106711387634277
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002419827796984464,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2549.491455078125,
                        "z": 365.1574401855469
                    },
                    "rotation": {
                        "roll": 0.0004572895122691989,
                        "pitch": 0.07403924316167831,
                        "yaw": -89.78157806396484
                    }
                },
                "velocity": {
                    "x": 6.52514718240127e-05,
                    "y": 4.819910100195557e-05,
                    "z": -0.00022797973360866308
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1399569511413574,
                "transform": {
                    "location": {
                        "x": 2228.12060546875,
                        "y": 2524.298583984375,
                        "z": 366.2908935546875
                    },
                    "rotation": {
                        "roll": 0.01014899741858244,
                        "pitch": -1.7487741708755493,
                        "yaw": 179.5223388671875
                    }
                },
                "velocity": {
                    "x": -2.1389334201812744,
                    "y": -0.0028938192408531904,
                    "z": -0.06611048430204391
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00028349479543976486,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.13525390625,
                        "z": 364.9974060058594
                    },
                    "rotation": {
                        "roll": 0.0015796873485669494,
                        "pitch": 0.36893948912620544,
                        "yaw": 89.98833465576172
                    }
                },
                "velocity": {
                    "x": 0.00011088946484960616,
                    "y": -1.8278211427968927e-05,
                    "z": 0.00026026665000244975
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.162353515625,
                        "y": 2448.213134765625,
                        "z": 364.6456298828125
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.4801899194717407,
                "transform": {
                    "location": {
                        "x": 2187.780517578125,
                        "y": 2576.05224609375,
                        "z": 365.0835876464844
                    },
                    "rotation": {
                        "roll": -0.003204342909157276,
                        "pitch": 0.4615568518638611,
                        "yaw": -89.83035278320312
                    }
                },
                "velocity": {
                    "x": 0.029718691483139992,
                    "y": -1.4796727895736694,
                    "z": 0.02544713020324707
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.009219016879796982,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.5546875,
                        "z": 365.16900634765625
                    },
                    "rotation": {
                        "roll": 5.536605749512091e-05,
                        "pitch": -0.02615279331803322,
                        "yaw": -89.77812957763672
                    }
                },
                "velocity": {
                    "x": 5.244617204880342e-05,
                    "y": 0.009154188446700573,
                    "z": 0.0010901164496317506
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003398458648007363,
                "transform": {
                    "location": {
                        "x": 2171.052734375,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0010384153574705124,
                        "pitch": 0.998908281326294,
                        "yaw": -0.1620483249425888
                    }
                },
                "velocity": {
                    "x": -2.0463912733248435e-05,
                    "y": -1.5921201338642277e-05,
                    "z": -0.00033885534503497183
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00029840716160833836,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0025146943517029285,
                        "pitch": 0.21794448792934418,
                        "yaw": -179.79933166503906
                    }
                },
                "velocity": {
                    "x": 9.92290642898297e-06,
                    "y": 3.0477815016638488e-05,
                    "z": -0.00029668075148947537
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00036003271816298366,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 5.080662504042266e-06,
                    "y": -8.399563739658333e-06,
                    "z": 0.00035989886964671314
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.5257374048233032,
                "transform": {
                    "location": {
                        "x": 2159.599609375,
                        "y": 2527.358154296875,
                        "z": 364.7605895996094
                    },
                    "rotation": {
                        "roll": 0.0033196755684912205,
                        "pitch": -0.22521863877773285,
                        "yaw": -0.1601257473230362
                    }
                },
                "velocity": {
                    "x": 0.5257059335708618,
                    "y": -0.0015794640639796853,
                    "z": 0.005530624184757471
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.7353515625,
                        "z": 365.0726013183594
                    },
                    "rotation": {
                        "roll": 0.00046433997340500355,
                        "pitch": 0.31921571493148804,
                        "yaw": 90.10200500488281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002485445002093911,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": -1.8239921701024286e-05,
                    "y": -2.4180485524993856e-06,
                    "z": 0.0002478625101502985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.6505699157714844,
                "transform": {
                    "location": {
                        "x": 2203.9169921875,
                        "y": 2524.30615234375,
                        "z": 365.58935546875
                    },
                    "rotation": {
                        "roll": -0.005065916106104851,
                        "pitch": -1.4296883344650269,
                        "yaw": -179.9081573486328
                    }
                },
                "velocity": {
                    "x": -3.6494016647338867,
                    "y": 0.009489304386079311,
                    "z": -0.09186099469661713
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9808635711669922,
                "transform": {
                    "location": {
                        "x": 2185.03857421875,
                        "y": 2475.71240234375,
                        "z": 364.917724609375
                    },
                    "rotation": {
                        "roll": 0.0011624788166955113,
                        "pitch": 0.3837609887123108,
                        "yaw": 90.04071807861328
                    }
                },
                "velocity": {
                    "x": -0.004426396917551756,
                    "y": 1.9807978868484497,
                    "z": 0.015499562956392765
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.11044371128082275,
        "expert_target_speed": 0.0,
        "target_point": [
            28.212450958958872,
            7.3095548490928515
        ],
        "target_point_next": [
            28.212450958958872,
            7.3095548490928515
        ]
    },
    "480": {
        "acceleration": [
            0.2729654312133789,
            0.17007827758789062,
            -0.004877448081970215
        ],
        "angular_velocity": [
            0.14440622925758362,
            -0.3101332187652588,
            5.758967876434326
        ],
        "forward_vector": [
            -0.9692274928092957,
            0.24547205865383148,
            -0.018483895808458328
        ],
        "right_vector": [
            -0.24543394148349762,
            -0.9694036245346069,
            -0.0043386067263782024
        ],
        "location": [
            2177.0380859375,
            2523.94189453125,
            364.9977722167969
        ],
        "rotation": [
            0.24862709641456604,
            -1.0591095685958862,
            165.7877960205078
        ],
        "velocity": [
            -1.1079928874969482,
            0.11684809625148773,
            -0.021439794450998306
        ],
        "speed": 1.1141372071434568,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.8951826095581055,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.0277419090270996,
                "transform": {
                    "location": {
                        "x": 2145.055908203125,
                        "y": 2527.359619140625,
                        "z": 364.7590026855469
                    },
                    "rotation": {
                        "roll": 0.0013709935592487454,
                        "pitch": -0.18520739674568176,
                        "yaw": -0.4136352837085724
                    }
                },
                "velocity": {
                    "x": 2.0277252197265625,
                    "y": -0.004783507436513901,
                    "z": -0.006654577329754829
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.008751477114856243,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2559.85595703125,
                        "z": 365.12896728515625
                    },
                    "rotation": {
                        "roll": 0.0014104015426710248,
                        "pitch": -0.019261132925748825,
                        "yaw": -90.03685760498047
                    }
                },
                "velocity": {
                    "x": 0.00023881661763880402,
                    "y": -0.008698317222297192,
                    "z": -0.0009330600150860846
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.7564216256141663,
                "transform": {
                    "location": {
                        "x": 2185.059326171875,
                        "y": 2464.0986328125,
                        "z": 364.8090515136719
                    },
                    "rotation": {
                        "roll": 0.007049158215522766,
                        "pitch": 0.1669776290655136,
                        "yaw": 89.12564849853516
                    }
                },
                "velocity": {
                    "x": 0.0034602817613631487,
                    "y": 0.7563804388046265,
                    "z": 0.007098502945154905
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.339200496673584,
                "transform": {
                    "location": {
                        "x": 2215.26904296875,
                        "y": 2524.2783203125,
                        "z": 365.90625
                    },
                    "rotation": {
                        "roll": 0.004978216253221035,
                        "pitch": -1.549708366394043,
                        "yaw": 179.7281951904297
                    }
                },
                "velocity": {
                    "x": -2.338221311569214,
                    "y": 0.006457072217017412,
                    "z": -0.06737025082111359
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00037954666186124086,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2549.491455078125,
                        "z": 365.1575012207031
                    },
                    "rotation": {
                        "roll": 0.0007635444053448737,
                        "pitch": 0.0777275487780571,
                        "yaw": -89.78157806396484
                    }
                },
                "velocity": {
                    "x": 2.527273682062514e-05,
                    "y": 2.8602889869944192e-05,
                    "z": -0.0003776226076297462
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.6059415340423584,
                "transform": {
                    "location": {
                        "x": 2227.952392578125,
                        "y": 2524.298583984375,
                        "z": 366.2853698730469
                    },
                    "rotation": {
                        "roll": 0.016891954466700554,
                        "pitch": -1.9372464418411255,
                        "yaw": 179.48690795898438
                    }
                },
                "velocity": {
                    "x": -0.6056779623031616,
                    "y": -0.00011227188224438578,
                    "z": -0.017870139330625534
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004179505631327629,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.13525390625,
                        "z": 364.9974060058594
                    },
                    "rotation": {
                        "roll": 0.0015796873485669494,
                        "pitch": 0.36893948912620544,
                        "yaw": 89.98833465576172
                    }
                },
                "velocity": {
                    "x": -0.0001405195362167433,
                    "y": -1.456484187656315e-05,
                    "z": 0.0003933507250621915
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.16064453125,
                        "y": 2449.689697265625,
                        "z": 364.66107177734375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.4941823482513428,
                "transform": {
                    "location": {
                        "x": 2187.784912109375,
                        "y": 2575.560302734375,
                        "z": 365.0883483886719
                    },
                    "rotation": {
                        "roll": 0.0011078340467065573,
                        "pitch": 0.4625745415687561,
                        "yaw": -89.73665618896484
                    }
                },
                "velocity": {
                    "x": 0.026492545381188393,
                    "y": -2.4939815998077393,
                    "z": 0.01731359399855137
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.2642641067504883,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.542724609375,
                        "z": 365.1687927246094
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": 0.0024247169494628906,
                        "yaw": -89.76769256591797
                    }
                },
                "velocity": {
                    "x": 0.0011791837168857455,
                    "y": -0.26425889134407043,
                    "z": 0.0011641597375273705
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002514541265554726,
                "transform": {
                    "location": {
                        "x": 2171.052734375,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.9994615316390991,
                        "yaw": -0.1620178073644638
                    }
                },
                "velocity": {
                    "x": -2.53650541708339e-05,
                    "y": 8.429920126218349e-05,
                    "z": -0.00023554071958642453
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021729561558458954,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0023861518129706383,
                        "pitch": 0.21822452545166016,
                        "yaw": -179.79933166503906
                    }
                },
                "velocity": {
                    "x": 6.274133738770615e-06,
                    "y": -4.727404757431941e-06,
                    "z": -0.00021715355978813022
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008427210268564522,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.754779259499628e-05,
                    "y": -2.754404022198287e-06,
                    "z": 0.0008425337728112936
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.1292656660079956,
                "transform": {
                    "location": {
                        "x": 2159.796875,
                        "y": 2527.357666015625,
                        "z": 364.755859375
                    },
                    "rotation": {
                        "roll": 0.00044604428694583476,
                        "pitch": 0.5263957977294922,
                        "yaw": -0.1848144382238388
                    }
                },
                "velocity": {
                    "x": 1.129242181777954,
                    "y": -0.003990905359387398,
                    "z": 0.006091222632676363
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.7353515625,
                        "z": 365.0726013183594
                    },
                    "rotation": {
                        "roll": 0.00046433997340500355,
                        "pitch": 0.31921571493148804,
                        "yaw": 90.10200500488281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007061709766276181,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": -6.7813261921401136e-06,
                    "y": -7.879342774685938e-06,
                    "z": 0.0007060944917611778
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.097292900085449,
                "transform": {
                    "location": {
                        "x": 2202.884521484375,
                        "y": 2524.30712890625,
                        "z": 365.5628967285156
                    },
                    "rotation": {
                        "roll": -0.0029602053109556437,
                        "pitch": -1.3716726303100586,
                        "yaw": 179.96002197265625
                    }
                },
                "velocity": {
                    "x": -4.096017360687256,
                    "y": 0.00721324235200882,
                    "z": -0.10196107625961304
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.8753244876861572,
                "transform": {
                    "location": {
                        "x": 2185.03662109375,
                        "y": 2476.322509765625,
                        "z": 364.92279052734375
                    },
                    "rotation": {
                        "roll": 0.00021913078671786934,
                        "pitch": 0.3660912811756134,
                        "yaw": 90.05050659179688
                    }
                },
                "velocity": {
                    "x": -0.005189476069062948,
                    "y": 2.875232458114624,
                    "z": 0.022404316812753677
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.08193902671337128,
        "expert_target_speed": 0.0,
        "target_point": [
            28.128864702024376,
            6.521886511007424
        ],
        "target_point_next": [
            28.128864702024376,
            6.521886511007424
        ]
    },
    "485": {
        "acceleration": [
            0.6074464321136475,
            -0.280030220746994,
            0.00849999487400055
        ],
        "angular_velocity": [
            -0.30759263038635254,
            -0.2467183917760849,
            4.553364276885986
        ],
        "forward_vector": [
            -0.9744251370429993,
            0.22381842136383057,
            -0.020023439079523087
        ],
        "right_vector": [
            -0.223770871758461,
            -0.9746308922767639,
            -0.004613602999597788
        ],
        "location": [
            2176.78076171875,
            2523.97265625,
            364.9930419921875
        ],
        "rotation": [
            0.2643939256668091,
            -1.147335171699524,
            167.06394958496094
        ],
        "velocity": [
            -0.9562376737594604,
            0.08945669233798981,
            -0.020056504756212234
        ],
        "speed": 0.9604129260484565,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.636092185974121,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.6130025386810303,
                "transform": {
                    "location": {
                        "x": 2145.494873046875,
                        "y": 2527.356201171875,
                        "z": 364.75726318359375
                    },
                    "rotation": {
                        "roll": -0.0017700194148346782,
                        "pitch": -0.16714155673980713,
                        "yaw": -0.0580749474465847
                    }
                },
                "velocity": {
                    "x": 2.612983226776123,
                    "y": 0.0007440343615598977,
                    "z": -0.00998220406472683
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.002850285032764077,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2559.85595703125,
                        "z": 365.12884521484375
                    },
                    "rotation": {
                        "roll": 0.001067254925146699,
                        "pitch": 0.008346490561962128,
                        "yaw": -90.0368881225586
                    }
                },
                "velocity": {
                    "x": -0.00011435595661168918,
                    "y": 0.002246221760287881,
                    "z": -0.0017508672317489982
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8460030555725098,
                "transform": {
                    "location": {
                        "x": 2185.060302734375,
                        "y": 2464.443603515625,
                        "z": 364.81292724609375
                    },
                    "rotation": {
                        "roll": -0.007843026891350746,
                        "pitch": 0.5948889255523682,
                        "yaw": 89.23784637451172
                    }
                },
                "velocity": {
                    "x": 0.0065128738060593605,
                    "y": 1.8459006547927856,
                    "z": 0.018324164673686028
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3923901915550232,
                "transform": {
                    "location": {
                        "x": 2215.000244140625,
                        "y": 2524.27880859375,
                        "z": 365.8980407714844
                    },
                    "rotation": {
                        "roll": 0.010985399596393108,
                        "pitch": -1.8913202285766602,
                        "yaw": 179.60958862304688
                    }
                },
                "velocity": {
                    "x": -0.3922443687915802,
                    "y": 0.0007341760210692883,
                    "z": -0.010671119205653667
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00021541664318647236,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2549.491455078125,
                        "z": 365.1575012207031
                    },
                    "rotation": {
                        "roll": -0.00012206305837025866,
                        "pitch": 0.08027520775794983,
                        "yaw": -89.78155517578125
                    }
                },
                "velocity": {
                    "x": -3.038233262486756e-05,
                    "y": -1.2811347914976068e-05,
                    "z": -0.00021287816343829036
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.6454596519470215,
                "transform": {
                    "location": {
                        "x": 2227.663818359375,
                        "y": 2524.2978515625,
                        "z": 366.2767639160156
                    },
                    "rotation": {
                        "roll": 0.005337988492101431,
                        "pitch": -1.6939687728881836,
                        "yaw": 179.61610412597656
                    }
                },
                "velocity": {
                    "x": -1.6446683406829834,
                    "y": -0.0019540039356797934,
                    "z": -0.050986360758543015
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00020658991707023233,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.13525390625,
                        "z": 364.9974060058594
                    },
                    "rotation": {
                        "roll": 0.0015796873485669494,
                        "pitch": 0.36893948912620544,
                        "yaw": 89.98833465576172
                    }
                },
                "velocity": {
                    "x": 6.767979243704758e-07,
                    "y": -1.0831132385646924e-05,
                    "z": 0.0002063046849798411
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.15966796875,
                        "y": 2450.52294921875,
                        "z": 364.6698303222656
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": 0.6438136100769043,
                        "yaw": 90.06040954589844
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.8613510131835938,
                "transform": {
                    "location": {
                        "x": 2187.79248046875,
                        "y": 2574.76123046875,
                        "z": 365.0933532714844
                    },
                    "rotation": {
                        "roll": -0.0003967254306189716,
                        "pitch": 0.48462238907814026,
                        "yaw": -89.6112060546875
                    }
                },
                "velocity": {
                    "x": 0.04167385399341583,
                    "y": -3.861055850982666,
                    "z": 0.023313436657190323
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.7458025217056274,
                "transform": {
                    "location": {
                        "x": 2187.915771484375,
                        "y": 2539.4072265625,
                        "z": 365.1680908203125
                    },
                    "rotation": {
                        "roll": 0.000658973993267864,
                        "pitch": 0.09096445143222809,
                        "yaw": -89.79222869873047
                    }
                },
                "velocity": {
                    "x": 0.0014009146252647042,
                    "y": -0.7458009123802185,
                    "z": 0.0006905555492267013
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00011403264943510294,
                "transform": {
                    "location": {
                        "x": 2171.052734375,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0008060963009484112,
                        "pitch": 0.9998781681060791,
                        "yaw": -0.1619262546300888
                    }
                },
                "velocity": {
                    "x": -4.7004668886074796e-05,
                    "y": -2.3159738702815957e-05,
                    "z": 0.00010127996938535944
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.549165921867825e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0026567273307591677,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.79933166503906
                    }
                },
                "velocity": {
                    "x": 1.1765323506551795e-05,
                    "y": 2.4642679363751085e-06,
                    "z": -3.339404793223366e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004340516170486808,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.594550849404186e-05,
                    "y": -2.120904355251696e-06,
                    "z": 0.00043375344830565155
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.1885242462158203,
                "transform": {
                    "location": {
                        "x": 2160.193359375,
                        "y": 2527.3564453125,
                        "z": 364.7571105957031
                    },
                    "rotation": {
                        "roll": -0.002349853515625,
                        "pitch": 0.5980103611946106,
                        "yaw": -0.1563720852136612
                    }
                },
                "velocity": {
                    "x": 2.1884918212890625,
                    "y": -0.006589166354387999,
                    "z": 0.00989967305213213
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.7353515625,
                        "z": 365.0726013183594
                    },
                    "rotation": {
                        "roll": 0.00046433997340500355,
                        "pitch": 0.31921571493148804,
                        "yaw": 90.10200500488281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001270476495847106,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": -1.9527675249264576e-05,
                    "y": -2.818182110786438e-06,
                    "z": 0.00012550631072372198
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.640796661376953,
                "transform": {
                    "location": {
                        "x": 2202.2509765625,
                        "y": 2524.309814453125,
                        "z": 365.5479736328125
                    },
                    "rotation": {
                        "roll": -0.005706786178052425,
                        "pitch": -1.458033561706543,
                        "yaw": -179.8179168701172
                    }
                },
                "velocity": {
                    "x": -2.639996290206909,
                    "y": 0.0006764059653505683,
                    "z": -0.06500589102506638
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8747565746307373,
                "transform": {
                    "location": {
                        "x": 2185.035400390625,
                        "y": 2477.173095703125,
                        "z": 364.92974853515625
                    },
                    "rotation": {
                        "roll": 0.00028727331664413214,
                        "pitch": 0.3443029820919037,
                        "yaw": 90.06419372558594
                    }
                },
                "velocity": {
                    "x": -0.005439752247184515,
                    "y": 3.87463641166687,
                    "z": 0.030043305829167366
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.06738927960395813,
        "expert_target_speed": 0.0,
        "target_point": [
            28.009458255101606,
            5.866180321079471
        ],
        "target_point_next": [
            28.009458255101606,
            5.866180321079471
        ]
    },
    "490": {
        "acceleration": [
            0.9589588642120361,
            0.09313032031059265,
            0.023407936096191406
        ],
        "angular_velocity": [
            0.15677741169929504,
            -0.18743100762367249,
            2.552316665649414
        ],
        "forward_vector": [
            -0.9776581525802612,
            0.20915883779525757,
            -0.02090742625296116
        ],
        "right_vector": [
            -0.2091033011674881,
            -0.9778816103935242,
            -0.0048325639218091965
        ],
        "location": [
            2176.568359375,
            2523.99853515625,
            364.9889831542969
        ],
        "rotation": [
            0.27694711089134216,
            -1.197994589805603,
            167.92425537109375
        ],
        "velocity": [
            -0.7587302923202515,
            0.08770039677619934,
            -0.015844544395804405
        ],
        "speed": 0.7637820474972405,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.422194480895996,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.300391435623169,
                "transform": {
                    "location": {
                        "x": 2145.9423828125,
                        "y": 2527.357177734375,
                        "z": 364.7557373046875
                    },
                    "rotation": {
                        "roll": -0.0007324218167923391,
                        "pitch": -0.19219468533992767,
                        "yaw": -0.1808776706457138
                    }
                },
                "velocity": {
                    "x": 2.3003764152526855,
                    "y": 0.0025635056663304567,
                    "z": -0.007896709255874157
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0017534710932523012,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2559.85498046875,
                        "z": 365.1283874511719
                    },
                    "rotation": {
                        "roll": 0.002440384589135647,
                        "pitch": 0.12938426434993744,
                        "yaw": -90.03684997558594
                    }
                },
                "velocity": {
                    "x": -0.0001093587779905647,
                    "y": 0.000969272165093571,
                    "z": -0.001457124948501587
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.945684790611267,
                "transform": {
                    "location": {
                        "x": 2185.0615234375,
                        "y": 2464.974853515625,
                        "z": 364.8179931640625
                    },
                    "rotation": {
                        "roll": -0.00888059288263321,
                        "pitch": 0.570061206817627,
                        "yaw": 89.335205078125
                    }
                },
                "velocity": {
                    "x": 0.0006944987107999623,
                    "y": 1.9455915689468384,
                    "z": 0.01903458498418331
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4808369874954224,
                "transform": {
                    "location": {
                        "x": 2214.753173828125,
                        "y": 2524.27978515625,
                        "z": 365.8913879394531
                    },
                    "rotation": {
                        "roll": 0.006682414095848799,
                        "pitch": -1.579467535018921,
                        "yaw": 179.6126251220703
                    }
                },
                "velocity": {
                    "x": -1.4802166223526,
                    "y": 0.004792756401002407,
                    "z": -0.04259326308965683
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.000879867875482887,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2549.491455078125,
                        "z": 365.1575012207031
                    },
                    "rotation": {
                        "roll": -0.00012206305837025866,
                        "pitch": 0.08027520775794983,
                        "yaw": -89.78155517578125
                    }
                },
                "velocity": {
                    "x": -1.0502389159228187e-05,
                    "y": 3.5381010093260556e-05,
                    "z": -0.0008790934807620943
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.176522731781006,
                "transform": {
                    "location": {
                        "x": 2227.1376953125,
                        "y": 2524.296142578125,
                        "z": 366.2603759765625
                    },
                    "rotation": {
                        "roll": -0.004974363371729851,
                        "pitch": -1.6841470003128052,
                        "yaw": 179.88919067382812
                    }
                },
                "velocity": {
                    "x": -2.175441265106201,
                    "y": -0.00795795302838087,
                    "z": -0.06813959032297134
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.018354473635554314,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.136474609375,
                        "z": 364.9974060058594
                    },
                    "rotation": {
                        "roll": 0.0003479734295979142,
                        "pitch": 0.3717535138130188,
                        "yaw": 89.98925018310547
                    }
                },
                "velocity": {
                    "x": 0.00017432782624382526,
                    "y": -0.018346738070249557,
                    "z": 0.0005035018548369408
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.157958984375,
                        "y": 2451.77294921875,
                        "z": 364.6834411621094
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.164669990539551,
                "transform": {
                    "location": {
                        "x": 2187.803955078125,
                        "y": 2573.625244140625,
                        "z": 365.100341796875
                    },
                    "rotation": {
                        "roll": 0.0013994657201692462,
                        "pitch": 0.4880238175392151,
                        "yaw": -89.50049591064453
                    }
                },
                "velocity": {
                    "x": 0.056445419788360596,
                    "y": -5.164238929748535,
                    "z": 0.03561396524310112
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 1.7877905368804932,
                "transform": {
                    "location": {
                        "x": 2187.916259765625,
                        "y": 2539.08984375,
                        "z": 365.1673278808594
                    },
                    "rotation": {
                        "roll": 0.0012180876219645143,
                        "pitch": 0.1823660433292389,
                        "yaw": -89.81819152832031
                    }
                },
                "velocity": {
                    "x": 0.0029750096146017313,
                    "y": -1.7877873182296753,
                    "z": -0.0016299629351124167
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.360832826932892e-05,
                "transform": {
                    "location": {
                        "x": 2171.052734375,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0005179249565117061,
                        "pitch": 0.9998440146446228,
                        "yaw": -0.1619262397289276
                    }
                },
                "velocity": {
                    "x": -3.9045513403834775e-05,
                    "y": -1.3798338613923988e-06,
                    "z": 1.9370863810763694e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0026033276226371527,
                        "pitch": 0.21819038689136505,
                        "yaw": -179.79933166503906
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00011367612751200795,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.0754502909549046e-05,
                    "y": -6.10266397416126e-06,
                    "z": 0.00011300159530946985
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.19032233953475952,
                "transform": {
                    "location": {
                        "x": 2160.6689453125,
                        "y": 2527.354736328125,
                        "z": 364.76373291015625
                    },
                    "rotation": {
                        "roll": -0.0016174315242096782,
                        "pitch": 0.14224551618099213,
                        "yaw": -0.1380615234375
                    }
                },
                "velocity": {
                    "x": 0.1903138905763626,
                    "y": 0.0004043358494527638,
                    "z": 0.0017471218015998602
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.7353515625,
                        "z": 365.0726013183594
                    },
                    "rotation": {
                        "roll": 0.00046433997340500355,
                        "pitch": 0.31921571493148804,
                        "yaw": 90.10200500488281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008138686534948647,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": -2.6643729142961092e-05,
                    "y": -2.0568109903251752e-05,
                    "z": 0.0008131723152473569
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.9168832302093506,
                "transform": {
                    "location": {
                        "x": 2201.3857421875,
                        "y": 2524.312744140625,
                        "z": 365.52593994140625
                    },
                    "rotation": {
                        "roll": 0.013600820675492287,
                        "pitch": -1.3664202690124512,
                        "yaw": 179.97523498535156
                    }
                },
                "velocity": {
                    "x": -3.9130516052246094,
                    "y": 0.1443401575088501,
                    "z": -0.09574665874242783
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.9757001399993896,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2478.057861328125,
                        "z": 364.9353942871094
                    },
                    "rotation": {
                        "roll": -0.00045777324703522027,
                        "pitch": 0.4966093599796295,
                        "yaw": 90.06299591064453
                    }
                },
                "velocity": {
                    "x": -0.003464621491730213,
                    "y": 2.975599527359009,
                    "z": 0.024210166186094284
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.051878683269023895,
        "expert_target_speed": 0.0,
        "target_point": [
            27.881262739091078,
            5.425840134513509
        ],
        "target_point_next": [
            27.881262739091078,
            5.425840134513509
        ]
    },
    "495": {
        "acceleration": [
            0.36573171615600586,
            -0.19468218088150024,
            0.0031711719930171967
        ],
        "angular_velocity": [
            -0.21503181755542755,
            0.09005486965179443,
            2.031376361846924
        ],
        "forward_vector": [
            -0.979636013507843,
            0.19966308772563934,
            -0.021165695041418076
        ],
        "right_vector": [
            -0.19960997998714447,
            -0.9798645377159119,
            -0.00461386376991868
        ],
        "location": [
            2176.401123046875,
            2524.01953125,
            364.9856872558594
        ],
        "rotation": [
            0.26441508531570435,
            -1.212795615196228,
            168.48013305664062
        ],
        "velocity": [
            -0.598462700843811,
            0.06481234729290009,
            -0.012890166603028774
        ],
        "speed": 0.601961996028723,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.253731727600098,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6108852624893188,
                "transform": {
                    "location": {
                        "x": 2146.3134765625,
                        "y": 2527.349365234375,
                        "z": 364.7545471191406
                    },
                    "rotation": {
                        "roll": -0.004638671409338713,
                        "pitch": -0.24096906185150146,
                        "yaw": 0.6151728630065918
                    }
                },
                "velocity": {
                    "x": 1.6108812093734741,
                    "y": 0.0012584978248924017,
                    "z": -0.0033606623765081167
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004287179617676884,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2559.8544921875,
                        "z": 365.1282043457031
                    },
                    "rotation": {
                        "roll": 0.000349314883351326,
                        "pitch": 0.16462120413780212,
                        "yaw": -90.03685760498047
                    }
                },
                "velocity": {
                    "x": -0.0002302054053870961,
                    "y": 0.0002900073886848986,
                    "z": 0.00021610244584735483
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8826553225517273,
                "transform": {
                    "location": {
                        "x": 2185.0615234375,
                        "y": 2465.12255859375,
                        "z": 364.8193359375
                    },
                    "rotation": {
                        "roll": -0.00555419921875,
                        "pitch": 0.4716586768627167,
                        "yaw": 89.3470230102539
                    }
                },
                "velocity": {
                    "x": 0.0012681238586083055,
                    "y": 0.8826289176940918,
                    "z": 0.00670731533318758
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.553321361541748,
                "transform": {
                    "location": {
                        "x": 2214.25048828125,
                        "y": 2524.28076171875,
                        "z": 365.8771057128906
                    },
                    "rotation": {
                        "roll": 0.0006902569439262152,
                        "pitch": -1.5032358169555664,
                        "yaw": 179.78211975097656
                    }
                },
                "velocity": {
                    "x": -2.552267551422119,
                    "y": 0.00624154694378376,
                    "z": -0.07308273017406464
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.19229227304458618,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2549.476318359375,
                        "z": 365.1575012207031
                    },
                    "rotation": {
                        "roll": 0.000780617177952081,
                        "pitch": 0.10418769717216492,
                        "yaw": -89.76171112060547
                    }
                },
                "velocity": {
                    "x": -0.001417905674315989,
                    "y": -0.1922864317893982,
                    "z": 0.0004834079591091722
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3176132142543793,
                "transform": {
                    "location": {
                        "x": 2226.93408203125,
                        "y": 2524.295166015625,
                        "z": 366.2536315917969
                    },
                    "rotation": {
                        "roll": -0.004791259765625,
                        "pitch": -1.9834867715835571,
                        "yaw": -179.9461669921875
                    }
                },
                "velocity": {
                    "x": -0.3174222409725189,
                    "y": -0.002229270525276661,
                    "z": -0.010784664191305637
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.3063882887363434,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.1689453125,
                        "z": 364.99761962890625
                    },
                    "rotation": {
                        "roll": -0.00042722965008579195,
                        "pitch": 0.37920525670051575,
                        "yaw": 89.98171997070312
                    }
                },
                "velocity": {
                    "x": -0.0003845783940050751,
                    "y": 0.30638208985328674,
                    "z": 0.0019098281627520919
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.156982421875,
                        "y": 2452.6064453125,
                        "z": 364.6925048828125
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.304985046386719,
                "transform": {
                    "location": {
                        "x": 2187.818115234375,
                        "y": 2572.3056640625,
                        "z": 365.1090393066406
                    },
                    "rotation": {
                        "roll": 0.0016273843357339501,
                        "pitch": 0.39435461163520813,
                        "yaw": -89.5340576171875
                    }
                },
                "velocity": {
                    "x": 0.058953288942575455,
                    "y": -5.304577350616455,
                    "z": 0.02918696403503418
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.2435619831085205,
                "transform": {
                    "location": {
                        "x": 2187.916748046875,
                        "y": 2538.462646484375,
                        "z": 365.1658935546875
                    },
                    "rotation": {
                        "roll": 0.0013547042617574334,
                        "pitch": 0.30417561531066895,
                        "yaw": -89.83599090576172
                    }
                },
                "velocity": {
                    "x": 0.004532338120043278,
                    "y": -3.243558168411255,
                    "z": -0.0018313216278329492
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0002391854941379279,
                "transform": {
                    "location": {
                        "x": 2171.052734375,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0005179249565117061,
                        "pitch": 0.9998440146446228,
                        "yaw": -0.1619262397289276
                    }
                },
                "velocity": {
                    "x": -3.739177918760106e-05,
                    "y": 2.8037027732352726e-05,
                    "z": 0.00023457511269953102
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00035656397812999785,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0025428980588912964,
                        "pitch": 0.2180401235818863,
                        "yaw": -179.79933166503906
                    }
                },
                "velocity": {
                    "x": 8.938498467614409e-06,
                    "y": -1.2928962860314641e-06,
                    "z": 0.0003564496000763029
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00047021667705848813,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.2309699741308577e-05,
                    "y": 3.149001713609323e-05,
                    "z": 0.0004689995548687875
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004395871888846159,
                "transform": {
                    "location": {
                        "x": 2160.667724609375,
                        "y": 2527.354736328125,
                        "z": 364.76568603515625
                    },
                    "rotation": {
                        "roll": 0.0005897118826396763,
                        "pitch": -0.040100038051605225,
                        "yaw": -0.1382751613855362
                    }
                },
                "velocity": {
                    "x": -0.003862303914502263,
                    "y": -2.3578213586006314e-05,
                    "z": 0.0020989857148379087
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.7353515625,
                        "z": 365.0726013183594
                    },
                    "rotation": {
                        "roll": 0.00046433997340500355,
                        "pitch": 0.31921571493148804,
                        "yaw": 90.10200500488281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002347394620301202,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": -1.4130346244201064e-06,
                    "y": -7.2521715992479585e-06,
                    "z": 0.00023462314857169986
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0019019851461052895,
                "transform": {
                    "location": {
                        "x": 2200.878173828125,
                        "y": 2524.326171875,
                        "z": 365.5150451660156
                    },
                    "rotation": {
                        "roll": 0.03865799307823181,
                        "pitch": -1.6144107580184937,
                        "yaw": 178.23297119140625
                    }
                },
                "velocity": {
                    "x": 2.1964311599731445e-05,
                    "y": 0.00021712988382205367,
                    "z": -0.0018894231179729104
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6256294250488281,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.643798828125,
                        "z": 364.93951416015625
                    },
                    "rotation": {
                        "roll": 0.0007034365553408861,
                        "pitch": 0.5616874098777771,
                        "yaw": 90.1014175415039
                    }
                },
                "velocity": {
                    "x": -0.006866274867206812,
                    "y": 1.6255640983581543,
                    "z": 0.012849807739257812
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.03649716451764107,
        "expert_target_speed": 0.0,
        "target_point": [
            27.7645317397571,
            5.142254142483443
        ],
        "target_point_next": [
            27.7645317397571,
            5.142254142483443
        ]
    },
    "500": {
        "acceleration": [
            0.6831109523773193,
            0.05309209227561951,
            0.012318789958953857
        ],
        "angular_velocity": [
            0.08857244998216629,
            -0.019513556733727455,
            1.1046886444091797
        ],
        "forward_vector": [
            -0.9809682369232178,
            0.19302687048912048,
            -0.02102196402847767
        ],
        "right_vector": [
            -0.19297702610492706,
            -0.9811934232711792,
            -0.0043942807242274284
        ],
        "location": [
            2176.2705078125,
            2524.0361328125,
            364.9830017089844
        ],
        "rotation": [
            0.25183019042015076,
            -1.2045584917068481,
            168.86802673339844
        ],
        "velocity": [
            -0.4588841199874878,
            0.0557413324713707,
            -0.009199781343340874
        ],
        "speed": 0.46225721381323515,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.12214469909668,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16796875,
                2524.47509765625,
                364.89483642578125
            ],
            "velocity": [
                0.0,
                0.0,
                0.0
            ],
            "speed_kmh": 0.0,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4755245447158813,
                "transform": {
                    "location": {
                        "x": 2146.635009765625,
                        "y": 2527.353271484375,
                        "z": 364.7532653808594
                    },
                    "rotation": {
                        "roll": -0.00262451171875,
                        "pitch": -0.24063438177108765,
                        "yaw": 0.31495943665504456
                    }
                },
                "velocity": {
                    "x": 1.4755163192749023,
                    "y": 0.004935493227094412,
                    "z": -0.0003007507184520364
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0004131121386308223,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2559.854248046875,
                        "z": 365.1281433105469
                    },
                    "rotation": {
                        "roll": 0.0007877767784520984,
                        "pitch": 0.1798388659954071,
                        "yaw": -90.03684997558594
                    }
                },
                "velocity": {
                    "x": 6.24798412900418e-05,
                    "y": 0.0001439225598005578,
                    "z": 0.00038215730455704033
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7584155797958374,
                "transform": {
                    "location": {
                        "x": 2185.061279296875,
                        "y": 2465.46728515625,
                        "z": 364.82281494140625
                    },
                    "rotation": {
                        "roll": -0.009155269712209702,
                        "pitch": 0.6272367238998413,
                        "yaw": 89.48646545410156
                    }
                },
                "velocity": {
                    "x": 0.0010770874796435237,
                    "y": 1.7583329677581787,
                    "z": 0.017009543254971504
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.08565616607666,
                "transform": {
                    "location": {
                        "x": 2213.417724609375,
                        "y": 2524.28271484375,
                        "z": 365.853515625
                    },
                    "rotation": {
                        "roll": 0.000334953103447333,
                        "pitch": -1.4183911085128784,
                        "yaw": 179.8346710205078
                    }
                },
                "velocity": {
                    "x": -4.084071159362793,
                    "y": 0.009546943940222263,
                    "z": -0.11337999254465103
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9911206364631653,
                "transform": {
                    "location": {
                        "x": 2187.901123046875,
                        "y": 2549.3359375,
                        "z": 365.1578063964844
                    },
                    "rotation": {
                        "roll": 0.0014955786755308509,
                        "pitch": 0.180214524269104,
                        "yaw": -89.78477478027344
                    }
                },
                "velocity": {
                    "x": 0.0016737228725105524,
                    "y": -0.9911181330680847,
                    "z": 0.0014348221011459827
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4037920236587524,
                "transform": {
                    "location": {
                        "x": 2226.7119140625,
                        "y": 2524.29443359375,
                        "z": 366.2471008300781
                    },
                    "rotation": {
                        "roll": -0.00903320126235485,
                        "pitch": -1.6917352676391602,
                        "yaw": -179.91673278808594
                    }
                },
                "velocity": {
                    "x": -1.4031106233596802,
                    "y": -0.006289834622293711,
                    "z": -0.043281473219394684
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.871950626373291,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.319091796875,
                        "z": 364.99847412109375
                    },
                    "rotation": {
                        "roll": 0.000257125124335289,
                        "pitch": 0.38725122809410095,
                        "yaw": 89.98052215576172
                    }
                },
                "velocity": {
                    "x": -0.001039351336658001,
                    "y": 0.8719393610954285,
                    "z": 0.00431168545037508
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.15576171875,
                        "y": 2453.8564453125,
                        "z": 364.70611572265625
                    },
                    "rotation": {
                        "roll": 2.668192600197017e-08,
                        "pitch": 0.6073881983757019,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2052637338638306,
                "transform": {
                    "location": {
                        "x": 2187.826416015625,
                        "y": 2571.466552734375,
                        "z": 365.1165466308594
                    },
                    "rotation": {
                        "roll": 0.005055422894656658,
                        "pitch": 0.018407359719276428,
                        "yaw": -89.47998046875
                    }
                },
                "velocity": {
                    "x": 0.012957900762557983,
                    "y": -1.2051788568496704,
                    "z": 0.0060536861419677734
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.396658420562744,
                "transform": {
                    "location": {
                        "x": 2187.9189453125,
                        "y": 2537.571044921875,
                        "z": 365.1669006347656
                    },
                    "rotation": {
                        "roll": 0.0008784951060079038,
                        "pitch": 0.12344200164079666,
                        "yaw": -89.87102508544922
                    }
                },
                "velocity": {
                    "x": 0.004022160079330206,
                    "y": -3.396655559539795,
                    "z": -0.001956415129825473
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003085849166382104,
                "transform": {
                    "location": {
                        "x": 2171.052734375,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0005179249565117061,
                        "pitch": 0.9998440146446228,
                        "yaw": -0.1619262397289276
                    }
                },
                "velocity": {
                    "x": -6.294324703048915e-05,
                    "y": -4.3136758904438466e-05,
                    "z": 0.0002990016946569085
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.2712725037999917e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.001959480345249176,
                        "pitch": 0.21801279485225677,
                        "yaw": -179.79933166503906
                    }
                },
                "velocity": {
                    "x": 9.491182936471887e-06,
                    "y": -6.754492460459005e-06,
                    "z": 5.089957085147034e-06
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002770889550447464,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 5.561932994169183e-06,
                    "y": 3.14043827529531e-05,
                    "z": -0.0002752473810687661
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.002392878057435155,
                "transform": {
                    "location": {
                        "x": 2160.6708984375,
                        "y": 2527.354736328125,
                        "z": 364.7626953125
                    },
                    "rotation": {
                        "roll": -0.000640869140625,
                        "pitch": 0.34871527552604675,
                        "yaw": -0.1383056491613388
                    }
                },
                "velocity": {
                    "x": -0.0016724851448088884,
                    "y": -5.7171218941221014e-05,
                    "z": 0.0017103771679103374
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.7353515625,
                        "z": 365.0726013183594
                    },
                    "rotation": {
                        "roll": 0.00046433997340500355,
                        "pitch": 0.31921571493148804,
                        "yaw": 90.10200500488281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00023405956744682044,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": 2.3771053747623228e-05,
                    "y": -1.3615190255222842e-06,
                    "z": 0.00023284537019208074
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016214823117479682,
                "transform": {
                    "location": {
                        "x": 2200.877197265625,
                        "y": 2524.326171875,
                        "z": 365.51397705078125
                    },
                    "rotation": {
                        "roll": 0.04143094643950462,
                        "pitch": -1.4780869483947754,
                        "yaw": 178.23294067382812
                    }
                },
                "velocity": {
                    "x": 0.0001337756257271394,
                    "y": -4.8561541916569695e-05,
                    "z": 0.001615224638953805
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0015445112949237227,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.690185546875,
                        "z": 364.9397277832031
                    },
                    "rotation": {
                        "roll": 0.0007418875466100872,
                        "pitch": 0.5820618867874146,
                        "yaw": 90.145263671875
                    }
                },
                "velocity": {
                    "x": -0.000130982996779494,
                    "y": -0.0011126964818686247,
                    "z": 0.0010631392942741513
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2171.16796875,
                        "y": 2524.47509765625,
                        "z": 364.89483642578125
                    },
                    "rotation": {
                        "roll": 0.0005361930816434324,
                        "pitch": -0.9946257472038269,
                        "yaw": 179.87391662597656
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0545564666390419,
        "expert_target_speed": 0.0,
        "target_point": [
            27.667343595503723,
            4.945252821834141
        ],
        "target_point_next": [
            27.667343595503723,
            4.945252821834141
        ]
    },
    "505": {
        "acceleration": [
            -0.15434879064559937,
            -0.11730997264385223,
            -0.006727263331413269
        ],
        "angular_velocity": [
            -0.1283692568540573,
            0.11238181591033936,
            0.04746389016509056
        ],
        "forward_vector": [
            -0.9810755252838135,
            0.19264738261699677,
            -0.01943442039191723
        ],
        "right_vector": [
            -0.19261975586414337,
            -0.9812679290771484,
            -0.0033014980144798756
        ],
        "location": [
            2176.2509765625,
            2524.038330078125,
            364.98175048828125
        ],
        "rotation": [
            0.18919798731803894,
            -1.113580346107483,
            168.8905487060547
        ],
        "velocity": [
            -0.006979293189942837,
            -0.0017870082519948483,
            -0.0009330771863460541
        ],
        "speed": 0.007204438348954076,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.100934028625488,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.169677734375,
                2524.4755859375,
                364.8882751464844
            ],
            "velocity": [
                0.0001179221217171289,
                -0.0011948012979701161,
                0.011954803951084614
            ],
            "speed_kmh": 0.0432537855091745,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8830499649047852,
                "transform": {
                    "location": {
                        "x": 2147.13037109375,
                        "y": 2527.357177734375,
                        "z": 364.75115966796875
                    },
                    "rotation": {
                        "roll": -0.0015563963679596782,
                        "pitch": -0.18306955695152283,
                        "yaw": 0.003278459655120969
                    }
                },
                "velocity": {
                    "x": 1.8830084800720215,
                    "y": 0.010302388109266758,
                    "z": -0.0070673273876309395
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.23611794412136078,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2559.83740234375,
                        "z": 365.1280517578125
                    },
                    "rotation": {
                        "roll": 0.0008371188305318356,
                        "pitch": 0.23661823570728302,
                        "yaw": -90.04378509521484
                    }
                },
                "velocity": {
                    "x": 0.0014669379452243447,
                    "y": -0.2361079752445221,
                    "z": 0.001597452093847096
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.050752878189087,
                "transform": {
                    "location": {
                        "x": 2185.061279296875,
                        "y": 2466.059814453125,
                        "z": 364.8284606933594
                    },
                    "rotation": {
                        "roll": -0.007446328178048134,
                        "pitch": 0.7082905769348145,
                        "yaw": 89.70255279541016
                    }
                },
                "velocity": {
                    "x": -0.0027114965487271547,
                    "y": 3.0506279468536377,
                    "z": 0.027476873248815536
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 5.116282939910889,
                "transform": {
                    "location": {
                        "x": 2212.222412109375,
                        "y": 2524.28564453125,
                        "z": 365.8207702636719
                    },
                    "rotation": {
                        "roll": 0.0014285763027146459,
                        "pitch": -1.4027363061904907,
                        "yaw": 179.84925842285156
                    }
                },
                "velocity": {
                    "x": -5.114330291748047,
                    "y": 0.011510271579027176,
                    "z": -0.14087480306625366
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0187604427337646,
                "transform": {
                    "location": {
                        "x": 2187.90234375,
                        "y": 2548.951904296875,
                        "z": 365.1584777832031
                    },
                    "rotation": {
                        "roll": 0.0014679161831736565,
                        "pitch": 0.23691192269325256,
                        "yaw": -89.79977416992188
                    }
                },
                "velocity": {
                    "x": 0.004168972373008728,
                    "y": -2.0187551975250244,
                    "z": 0.0021277235355228186
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3079798221588135,
                "transform": {
                    "location": {
                        "x": 2226.23583984375,
                        "y": 2524.29345703125,
                        "z": 366.2323303222656
                    },
                    "rotation": {
                        "roll": -0.007598877884447575,
                        "pitch": -1.6261860132217407,
                        "yaw": -179.86953735351562
                    }
                },
                "velocity": {
                    "x": -2.3069047927856445,
                    "y": -0.0047844466753304005,
                    "z": -0.07027119398117065
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.4278907775878906,
                "transform": {
                    "location": {
                        "x": 2185.022705078125,
                        "y": 2488.6015625,
                        "z": 365.0002136230469
                    },
                    "rotation": {
                        "roll": 0.0004349142836872488,
                        "pitch": 0.3888767957687378,
                        "yaw": 89.99400329589844
                    }
                },
                "velocity": {
                    "x": -0.0028146931435912848,
                    "y": 1.4278640747070312,
                    "z": 0.008286876603960991
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.005563231650739908,
                "transform": {
                    "location": {
                        "x": 2185.155029296875,
                        "y": 2454.689697265625,
                        "z": 364.71484375
                    },
                    "rotation": {
                        "roll": 1.1286454537184909e-05,
                        "pitch": 0.6077228784561157,
                        "yaw": 90.06038665771484
                    }
                },
                "velocity": {
                    "x": -0.0001609850296517834,
                    "y": 3.748237941181287e-05,
                    "z": -0.005560775753110647
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0360223054885864,
                "transform": {
                    "location": {
                        "x": 2187.827880859375,
                        "y": 2571.3447265625,
                        "z": 365.1154479980469
                    },
                    "rotation": {
                        "roll": 0.0038425885140895844,
                        "pitch": 0.2152055948972702,
                        "yaw": -89.46739959716797
                    }
                },
                "velocity": {
                    "x": 0.011151939630508423,
                    "y": -1.0359466075897217,
                    "z": 0.005703534930944443
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.597437620162964,
                "transform": {
                    "location": {
                        "x": 2187.91943359375,
                        "y": 2536.841552734375,
                        "z": 365.1694030761719
                    },
                    "rotation": {
                        "roll": -9.15547861950472e-05,
                        "pitch": -0.2547045648097992,
                        "yaw": -89.89334106445312
                    }
                },
                "velocity": {
                    "x": 0.0029815558809787035,
                    "y": -2.5974349975585938,
                    "z": -0.002278232481330633
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00042299681808799505,
                "transform": {
                    "location": {
                        "x": 2171.052734375,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0005179249565117061,
                        "pitch": 0.9998440146446228,
                        "yaw": -0.1619262397289276
                    }
                },
                "velocity": {
                    "x": -3.8073063478805125e-05,
                    "y": 2.6055549824377522e-05,
                    "z": 0.00042047337046824396
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.678186814999208e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0025653396733105183,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.79931640625
                    }
                },
                "velocity": {
                    "x": 4.153065219725249e-06,
                    "y": -1.3165955351723824e-05,
                    "z": 4.469846680876799e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00027591484831646085,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.4659463886346202e-05,
                    "y": -5.034889909438789e-06,
                    "z": 0.0002754791348706931
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.000314565870212391,
                "transform": {
                    "location": {
                        "x": 2160.671142578125,
                        "y": 2527.354736328125,
                        "z": 364.762451171875
                    },
                    "rotation": {
                        "roll": -0.0006713867769576609,
                        "pitch": 0.3842664361000061,
                        "yaw": -0.1382751613855362
                    }
                },
                "velocity": {
                    "x": 0.00029056574567221105,
                    "y": -2.643078005348798e-05,
                    "z": 0.00011757824540836737
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.7353515625,
                        "z": 365.0726013183594
                    },
                    "rotation": {
                        "roll": 0.00046433997340500355,
                        "pitch": 0.31921571493148804,
                        "yaw": 90.10200500488281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007968213758431375,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": 1.7854245015769266e-05,
                    "y": -1.7566140741109848e-05,
                    "z": 0.0007964276592247188
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0009415779495611787,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.5137023925781
                    },
                    "rotation": {
                        "roll": 0.04109472036361694,
                        "pitch": -1.4353641271591187,
                        "yaw": 178.23289489746094
                    }
                },
                "velocity": {
                    "x": -1.9457042071735486e-05,
                    "y": -0.00016028668323997408,
                    "z": 0.0009276306955143809
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00021611871488858014,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.689697265625,
                        "z": 364.94061279296875
                    },
                    "rotation": {
                        "roll": 4.135602284804918e-05,
                        "pitch": 0.4656139612197876,
                        "yaw": 90.14527130126953
                    }
                },
                "velocity": {
                    "x": -2.5551271392032504e-05,
                    "y": -7.706343603786081e-05,
                    "z": -0.00020028893777634948
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01201494038105011,
                "transform": {
                    "location": {
                        "x": 2171.169677734375,
                        "y": 2524.4755859375,
                        "z": 364.8882751464844
                    },
                    "rotation": {
                        "roll": -0.02178954891860485,
                        "pitch": -1.1652780771255493,
                        "yaw": 179.8754119873047
                    }
                },
                "velocity": {
                    "x": 0.0001179221217171289,
                    "y": -0.0011948012979701161,
                    "z": 0.011954803951084614
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04407510161399841,
        "expert_target_speed": 0.0,
        "target_point": [
            27.64969588822616,
            4.9327742978009335
        ],
        "target_point_next": [
            27.64969588822616,
            4.9327742978009335
        ]
    },
    "510": {
        "acceleration": [
            0.21569563448429108,
            0.12134101241827011,
            -0.0011077499948441982
        ],
        "angular_velocity": [
            0.18448783457279205,
            -0.0888645127415657,
            -0.23107635974884033
        ],
        "forward_vector": [
            -0.9809936881065369,
            0.19306735694408417,
            -0.01939985528588295
        ],
        "right_vector": [
            -0.19303736090660095,
            -0.9811854362487793,
            -0.003424902679398656
        ],
        "location": [
            2176.2509765625,
            2524.038330078125,
            364.98175048828125
        ],
        "rotation": [
            0.19626978039741516,
            -1.1115995645523071,
            168.86602783203125
        ],
        "velocity": [
            0.007052909582853317,
            0.0039368122816085815,
            0.0005322265787981451
        ],
        "speed": 0.00807725352607731,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.101860523223877,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.168701171875,
                2524.475830078125,
                364.89202880859375
            ],
            "velocity": [
                0.0017674124101176858,
                4.056675606989302e-05,
                -0.09796340763568878
            ],
            "speed_kmh": 0.3527256894208204,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.494267225265503,
                "transform": {
                    "location": {
                        "x": 2147.552978515625,
                        "y": 2527.364013671875,
                        "z": 364.7498779296875
                    },
                    "rotation": {
                        "roll": 0.001879314542748034,
                        "pitch": -0.23068279027938843,
                        "yaw": -0.5997923612594604
                    }
                },
                "velocity": {
                    "x": 1.4941577911376953,
                    "y": 0.016990434378385544,
                    "z": -0.006198043469339609
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.9814836382865906,
                "transform": {
                    "location": {
                        "x": 2187.88671875,
                        "y": 2559.689697265625,
                        "z": 365.12799072265625
                    },
                    "rotation": {
                        "roll": -0.0002441454853396863,
                        "pitch": 0.409620076417923,
                        "yaw": -90.03856658935547
                    }
                },
                "velocity": {
                    "x": 0.0013652837369590998,
                    "y": -0.9814796447753906,
                    "z": 0.0024387454614043236
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.61067533493042,
                "transform": {
                    "location": {
                        "x": 2185.060546875,
                        "y": 2467.03515625,
                        "z": 364.8375244140625
                    },
                    "rotation": {
                        "roll": -0.005920431111007929,
                        "pitch": 0.7632941007614136,
                        "yaw": 89.90031433105469
                    }
                },
                "velocity": {
                    "x": -0.004844005219638348,
                    "y": 4.610484600067139,
                    "z": 0.041647594422101974
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.003172151744365692,
                "transform": {
                    "location": {
                        "x": 2211.656005859375,
                        "y": 2524.281005859375,
                        "z": 365.80377197265625
                    },
                    "rotation": {
                        "roll": 0.06007209047675133,
                        "pitch": -2.127624273300171,
                        "yaw": 178.66824340820312
                    }
                },
                "velocity": {
                    "x": -0.0004997223732061684,
                    "y": -0.002965568332001567,
                    "z": -0.0010090731084346771
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.072084903717041,
                "transform": {
                    "location": {
                        "x": 2187.904296875,
                        "y": 2548.31640625,
                        "z": 365.1593017578125
                    },
                    "rotation": {
                        "roll": 0.0005789037677459419,
                        "pitch": 0.2441314309835434,
                        "yaw": -89.80128479003906
                    }
                },
                "velocity": {
                    "x": 0.006586773786693811,
                    "y": -3.072075366973877,
                    "z": 0.004035434685647488
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.013335686177015305,
                "transform": {
                    "location": {
                        "x": 2225.789794921875,
                        "y": 2524.29248046875,
                        "z": 366.21832275390625
                    },
                    "rotation": {
                        "roll": -0.0156555138528347,
                        "pitch": -1.9938346147537231,
                        "yaw": -179.70465087890625
                    }
                },
                "velocity": {
                    "x": -0.013303318060934544,
                    "y": 0.0007935914327390492,
                    "z": 0.0004821520997211337
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8590391874313354,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2489.021240234375,
                        "z": 365.00299072265625
                    },
                    "rotation": {
                        "roll": 0.0008480166434310377,
                        "pitch": 0.3878864347934723,
                        "yaw": 90.04340362548828
                    }
                },
                "velocity": {
                    "x": -0.0029408589471131563,
                    "y": 1.8590036630630493,
                    "z": 0.01111229881644249
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001919500413350761,
                "transform": {
                    "location": {
                        "x": 2185.155029296875,
                        "y": 2454.689697265625,
                        "z": 364.7140197753906
                    },
                    "rotation": {
                        "roll": 0.0008124918676912785,
                        "pitch": 0.611021876335144,
                        "yaw": 90.06041717529297
                    }
                },
                "velocity": {
                    "x": 3.1201390811474994e-05,
                    "y": -1.490116086078075e-10,
                    "z": -0.0019192467443645
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.0332162380218506,
                "transform": {
                    "location": {
                        "x": 2187.83154296875,
                        "y": 2570.947998046875,
                        "z": 365.1162109375
                    },
                    "rotation": {
                        "roll": 0.004610545001924038,
                        "pitch": 0.3790481686592102,
                        "yaw": -89.4609146118164
                    }
                },
                "velocity": {
                    "x": 0.011133775115013123,
                    "y": -2.0331552028656006,
                    "z": 0.011144885793328285
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85975,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.082845449447632,
                "transform": {
                    "location": {
                        "x": 2187.91943359375,
                        "y": 2536.159912109375,
                        "z": 365.1682434082031
                    },
                    "rotation": {
                        "roll": 0.09009576588869095,
                        "pitch": 0.0006693585310131311,
                        "yaw": -89.90922546386719
                    }
                },
                "velocity": {
                    "x": 0.012168064713478088,
                    "y": -3.0827925205230713,
                    "z": 0.013376112096011639
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 7.96481326688081e-05,
                "transform": {
                    "location": {
                        "x": 2171.052734375,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": 0.0005179249565117061,
                        "pitch": 0.9998440146446228,
                        "yaw": -0.1619262397289276
                    }
                },
                "velocity": {
                    "x": -2.2357255147653632e-05,
                    "y": 4.890225318376906e-05,
                    "z": -5.875838178326376e-05
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004743165918625891,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0027363800909370184,
                        "pitch": 0.21788984537124634,
                        "yaw": -179.7992706298828
                    }
                },
                "velocity": {
                    "x": 9.57570955506526e-06,
                    "y": 3.0368300940608606e-06,
                    "z": -0.0004742101882584393
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002338064950890839,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.059696023730794e-05,
                    "y": 9.94686388366972e-07,
                    "z": -0.000233564103837125
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00037341986899264157,
                "transform": {
                    "location": {
                        "x": 2160.670654296875,
                        "y": 2527.354736328125,
                        "z": 364.7628479003906
                    },
                    "rotation": {
                        "roll": -0.00045776370097883046,
                        "pitch": 0.3354715406894684,
                        "yaw": -0.1382446438074112
                    }
                },
                "velocity": {
                    "x": 0.00028081549680791795,
                    "y": -9.236547157343011e-06,
                    "z": 0.0002459669776726514
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.08350376784801483,
                "transform": {
                    "location": {
                        "x": 2185.014404296875,
                        "y": 2498.74169921875,
                        "z": 365.0725402832031
                    },
                    "rotation": {
                        "roll": -0.00012207793770357966,
                        "pitch": 0.2985953688621521,
                        "yaw": 90.10328674316406
                    }
                },
                "velocity": {
                    "x": -0.00023867664276622236,
                    "y": 0.08348938822746277,
                    "z": 0.0015310096787288785
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015511117817368358,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": -1.852509967648075e-06,
                    "y": -6.99147585692117e-06,
                    "z": -0.0001549424632685259
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001235700910910964,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.51361083984375
                    },
                    "rotation": {
                        "roll": 0.040493469685316086,
                        "pitch": -1.4237664937973022,
                        "yaw": 178.2328643798828
                    }
                },
                "velocity": {
                    "x": -8.155584509950131e-05,
                    "y": -0.00030116768903099,
                    "z": 0.0011956602102145553
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.251911978935823e-05,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.689453125,
                        "z": 364.94073486328125
                    },
                    "rotation": {
                        "roll": 1.5208310060188523e-06,
                        "pitch": 0.45001381635665894,
                        "yaw": 90.14527893066406
                    }
                },
                "velocity": {
                    "x": 1.312683798460057e-05,
                    "y": -7.206029840745032e-05,
                    "z": -5.6522450904594734e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0979793593287468,
                "transform": {
                    "location": {
                        "x": 2171.168701171875,
                        "y": 2524.475830078125,
                        "z": 364.89202880859375
                    },
                    "rotation": {
                        "roll": -0.0022583003155887127,
                        "pitch": -1.0643346309661865,
                        "yaw": 179.87515258789062
                    }
                },
                "velocity": {
                    "x": 0.0017674124101176858,
                    "y": 4.056675606989302e-05,
                    "z": -0.09796340763568878
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.045612383633852005,
        "expert_target_speed": 0.0,
        "target_point": [
            27.64758349839721,
            4.944600255186475
        ],
        "target_point_next": [
            27.64758349839721,
            4.944600255186475
        ]
    },
    "515": {
        "acceleration": [
            -0.3132706582546234,
            -0.08961796015501022,
            0.006092195399105549
        ],
        "angular_velocity": [
            -0.12436991930007935,
            0.29878976941108704,
            -0.04404411464929581
        ],
        "forward_vector": [
            -0.9809029698371887,
            0.19349263608455658,
            -0.019750265404582024
        ],
        "right_vector": [
            -0.1934620887041092,
            -0.9811016321182251,
            -0.003463808447122574
        ],
        "location": [
            2176.2509765625,
            2524.038330078125,
            364.9814453125
        ],
        "rotation": [
            0.19850072264671326,
            -1.1316803693771362,
            168.8411102294922
        ],
        "velocity": [
            -0.008838670328259468,
            -0.0016972855664789677,
            0.0022264064755290747
        ],
        "speed": 0.009000159524465784,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.101686954498291,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.1689453125,
                2524.475830078125,
                364.8878479003906
            ],
            "velocity": [
                -3.0162929760990664e-05,
                -4.272829755791463e-05,
                0.025693630799651146
            ],
            "speed_kmh": 0.09249726251816157,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5822861194610596,
                "transform": {
                    "location": {
                        "x": 2147.999267578125,
                        "y": 2527.35205078125,
                        "z": 364.7480773925781
                    },
                    "rotation": {
                        "roll": 0.0016278981929644942,
                        "pitch": -0.2123095840215683,
                        "yaw": 0.5340459942817688
                    }
                },
                "velocity": {
                    "x": 1.582228660583496,
                    "y": -0.012165937572717667,
                    "z": -0.005820417311042547
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.8456863164901733,
                "transform": {
                    "location": {
                        "x": 2187.886474609375,
                        "y": 2559.330078125,
                        "z": 365.1286315917969
                    },
                    "rotation": {
                        "roll": -0.0034179589711129665,
                        "pitch": 0.5244014263153076,
                        "yaw": -89.96952819824219
                    }
                },
                "velocity": {
                    "x": 0.003104702103883028,
                    "y": -1.8456740379333496,
                    "z": 0.005950527265667915
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.125603675842285,
                "transform": {
                    "location": {
                        "x": 2185.058349609375,
                        "y": 2468.193115234375,
                        "z": 364.8478698730469
                    },
                    "rotation": {
                        "roll": -0.0037231219466775656,
                        "pitch": 0.5343461632728577,
                        "yaw": 90.02863311767578
                    }
                },
                "velocity": {
                    "x": -0.00855016428977251,
                    "y": 4.12542724609375,
                    "z": 0.03721080720424652
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.7572346925735474,
                "transform": {
                    "location": {
                        "x": 2211.36962890625,
                        "y": 2524.283447265625,
                        "z": 365.7966003417969
                    },
                    "rotation": {
                        "roll": 0.032799188047647476,
                        "pitch": -1.5415053367614746,
                        "yaw": 178.83364868164062
                    }
                },
                "velocity": {
                    "x": -1.7565102577209473,
                    "y": 0.016211867332458496,
                    "z": -0.04777982458472252
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.561705589294434,
                "transform": {
                    "location": {
                        "x": 2187.90625,
                        "y": 2547.3515625,
                        "z": 365.16064453125
                    },
                    "rotation": {
                        "roll": 0.0013714988017454743,
                        "pitch": 0.2952553927898407,
                        "yaw": -89.84660339355469
                    }
                },
                "velocity": {
                    "x": 0.00853058509528637,
                    "y": -4.5616936683654785,
                    "z": 0.006041421554982662
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9942221641540527,
                "transform": {
                    "location": {
                        "x": 2225.674560546875,
                        "y": 2524.2919921875,
                        "z": 366.2150573730469
                    },
                    "rotation": {
                        "roll": -0.011840819381177425,
                        "pitch": -1.7659521102905273,
                        "yaw": -179.7787322998047
                    }
                },
                "velocity": {
                    "x": -0.9937518239021301,
                    "y": -0.002945011481642723,
                    "z": -0.03043588623404503
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003245106781832874,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2489.205322265625,
                        "z": 365.0047912597656
                    },
                    "rotation": {
                        "roll": 0.0006298545631580055,
                        "pitch": 0.3184438943862915,
                        "yaw": 90.04997253417969
                    }
                },
                "velocity": {
                    "x": -4.512919531407533e-06,
                    "y": -3.8594902434851974e-05,
                    "z": 0.00032217579428106546
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0008460439275950193,
                "transform": {
                    "location": {
                        "x": 2185.155029296875,
                        "y": 2454.689697265625,
                        "z": 364.7138977050781
                    },
                    "rotation": {
                        "roll": -0.00018309152801521122,
                        "pitch": 0.6118209958076477,
                        "yaw": 90.06041717529297
                    }
                },
                "velocity": {
                    "x": 2.6589645131025463e-05,
                    "y": -6.604939699172974e-06,
                    "z": -0.000845600210595876
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.21032410860061646,
                "transform": {
                    "location": {
                        "x": 2187.83544921875,
                        "y": 2570.510498046875,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -6.103181658545509e-05,
                        "pitch": 0.19298015534877777,
                        "yaw": -89.52572631835938
                    }
                },
                "velocity": {
                    "x": 0.0022968431003391743,
                    "y": -0.21030837297439575,
                    "z": 0.0011604690225794911
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.004650892689824104,
                "transform": {
                    "location": {
                        "x": 2171.0546875,
                        "y": 2527.331298828125,
                        "z": 364.8861389160156
                    },
                    "rotation": {
                        "roll": -1.04236452802553e-10,
                        "pitch": 1.0049530267715454,
                        "yaw": -0.1516723781824112
                    }
                },
                "velocity": {
                    "x": 0.0044538239017128944,
                    "y": -0.0007828123052604496,
                    "z": 0.0010869503021240234
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001750128431012854,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.002364429412409663,
                        "pitch": 0.217725932598114,
                        "yaw": -179.79925537109375
                    }
                },
                "velocity": {
                    "x": 5.087107183499029e-06,
                    "y": -1.537490675218578e-06,
                    "z": -0.00017493213817942888
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010708082118071616,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 9.83558584266575e-06,
                    "y": -4.432114110386465e-06,
                    "z": 0.00010653600475052372
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0002016816579271108,
                "transform": {
                    "location": {
                        "x": 2160.670654296875,
                        "y": 2527.354736328125,
                        "z": 364.7629089355469
                    },
                    "rotation": {
                        "roll": -0.0006103515625,
                        "pitch": 0.3260595500469208,
                        "yaw": -0.13824462890625
                    }
                },
                "velocity": {
                    "x": -6.692171155009419e-05,
                    "y": 2.606480791200738e-07,
                    "z": 0.0001902548538055271
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.789322018623352,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2498.8544921875,
                        "z": 365.0739440917969
                    },
                    "rotation": {
                        "roll": -0.0005798372440040112,
                        "pitch": 0.2346784621477127,
                        "yaw": 90.07170867919922
                    }
                },
                "velocity": {
                    "x": -0.0011487783631309867,
                    "y": 0.7893143892288208,
                    "z": 0.0032746982760727406
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005718335742130876,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": 1.180597064376343e-05,
                    "y": -1.7283483657593024e-06,
                    "z": 0.0005717090680263937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0010441717458888888,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.5135803222656
                    },
                    "rotation": {
                        "roll": 0.03996172919869423,
                        "pitch": -1.4201328754425049,
                        "yaw": 178.23277282714844
                    }
                },
                "velocity": {
                    "x": -7.70543483668007e-05,
                    "y": -7.77250352257397e-06,
                    "z": 0.0010412957053631544
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.1898682713508606,
                "transform": {
                    "location": {
                        "x": 2185.033935546875,
                        "y": 2478.701416015625,
                        "z": 364.94097900390625
                    },
                    "rotation": {
                        "roll": 0.0006368267931975424,
                        "pitch": 0.43523329496383667,
                        "yaw": 90.15907287597656
                    }
                },
                "velocity": {
                    "x": 0.0029575410299003124,
                    "y": 0.189829483628273,
                    "z": 0.00244592665694654
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.025693682953715324,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.475830078125,
                        "z": 364.8878479003906
                    },
                    "rotation": {
                        "roll": -0.0047607421875,
                        "pitch": -1.0917646884918213,
                        "yaw": 179.87503051757812
                    }
                },
                "velocity": {
                    "x": -3.0162929760990664e-05,
                    "y": -4.272829755791463e-05,
                    "z": 0.025693630799651146
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04442503675818443,
        "expert_target_speed": 0.0,
        "target_point": [
            27.64543059870496,
            4.956623043627961
        ],
        "target_point_next": [
            27.64543059870496,
            4.956623043627961
        ]
    },
    "520": {
        "acceleration": [
            -0.09590994566679001,
            0.10252773761749268,
            -0.008454490453004837
        ],
        "angular_velocity": [
            0.3578967750072479,
            0.18823592364788055,
            -0.2978661358356476
        ],
        "forward_vector": [
            -0.9809728264808655,
            0.19351540505886078,
            -0.015626152977347374
        ],
        "right_vector": [
            -0.19350433349609375,
            -0.9810968637466431,
            -0.002230812795460224
        ],
        "location": [
            2176.248779296875,
            2524.037841796875,
            364.98089599609375
        ],
        "rotation": [
            0.12783187627792358,
            -0.8953489661216736,
            168.84060668945312
        ],
        "velocity": [
            -0.009753165766596794,
            0.004105991683900356,
            0.0012335586361587048
        ],
        "speed": 0.010582221419861452,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.098897933959961,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16943359375,
                2524.4755859375,
                364.89495849609375
            ],
            "velocity": [
                -0.0002174894470954314,
                -5.387261262512766e-05,
                0.016630234196782112
            ],
            "speed_kmh": 0.05987427676320791,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.6397455334663391,
                "transform": {
                    "location": {
                        "x": 2148.34619140625,
                        "y": 2527.3525390625,
                        "z": 364.7470703125
                    },
                    "rotation": {
                        "roll": -0.0033874507062137127,
                        "pitch": -0.281704306602478,
                        "yaw": 0.44678547978401184
                    }
                },
                "velocity": {
                    "x": 0.6397177577018738,
                    "y": 0.0002718219766393304,
                    "z": -0.005957841873168945
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.833571195602417,
                "transform": {
                    "location": {
                        "x": 2187.8876953125,
                        "y": 2558.752685546875,
                        "z": 365.1302795410156
                    },
                    "rotation": {
                        "roll": -0.0037231550086289644,
                        "pitch": 0.5868498086929321,
                        "yaw": -89.94200897216797
                    }
                },
                "velocity": {
                    "x": 0.005633460357785225,
                    "y": -2.833552837371826,
                    "z": 0.008543557487428188
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.633561849594116,
                "transform": {
                    "location": {
                        "x": 2185.056396484375,
                        "y": 2469.021240234375,
                        "z": 364.85504150390625
                    },
                    "rotation": {
                        "roll": 4.6278008085209876e-05,
                        "pitch": 0.33906424045562744,
                        "yaw": 90.07857513427734
                    }
                },
                "velocity": {
                    "x": -0.006635638885200024,
                    "y": 2.6334457397460938,
                    "z": 0.0238201804459095
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.408220052719116,
                "transform": {
                    "location": {
                        "x": 2210.806884765625,
                        "y": 2524.28759765625,
                        "z": 365.7811279296875
                    },
                    "rotation": {
                        "roll": 0.01906169205904007,
                        "pitch": -1.4435057640075684,
                        "yaw": 179.1023406982422
                    }
                },
                "velocity": {
                    "x": -2.4072558879852295,
                    "y": 0.01792874187231064,
                    "z": -0.06573706865310669
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.572271823883057,
                "transform": {
                    "location": {
                        "x": 2187.908935546875,
                        "y": 2546.12109375,
                        "z": 365.1617126464844
                    },
                    "rotation": {
                        "roll": -0.008453365415334702,
                        "pitch": 0.11310792714357376,
                        "yaw": -89.63707733154297
                    }
                },
                "velocity": {
                    "x": 0.026393111795186996,
                    "y": -4.572195529937744,
                    "z": 0.0016340065049007535
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.056476354598999,
                "transform": {
                    "location": {
                        "x": 2225.28662109375,
                        "y": 2524.291015625,
                        "z": 366.2033386230469
                    },
                    "rotation": {
                        "roll": -0.010345458984375,
                        "pitch": -1.6279549598693848,
                        "yaw": -179.764892578125
                    }
                },
                "velocity": {
                    "x": -2.055520534515381,
                    "y": -0.0060459948144853115,
                    "z": -0.062402140349149704
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0013720550341531634,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2489.20556640625,
                        "z": 365.00439453125
                    },
                    "rotation": {
                        "roll": 7.660100527573377e-05,
                        "pitch": 0.35962310433387756,
                        "yaw": 90.05003356933594
                    }
                },
                "velocity": {
                    "x": -4.128116415813565e-05,
                    "y": -6.21139261056669e-05,
                    "z": 0.001370026613585651
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3045319318771362,
                "transform": {
                    "location": {
                        "x": 2185.1533203125,
                        "y": 2454.83349609375,
                        "z": 364.715576171875
                    },
                    "rotation": {
                        "roll": -0.003692611586302519,
                        "pitch": 0.7713742256164551,
                        "yaw": 90.13969421386719
                    }
                },
                "velocity": {
                    "x": -0.014744322746992111,
                    "y": 1.3043744564056396,
                    "z": 0.013903569430112839
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.006873369216919,
                "transform": {
                    "location": {
                        "x": 2187.83642578125,
                        "y": 2570.3818359375,
                        "z": 365.1198425292969
                    },
                    "rotation": {
                        "roll": 0.0015874808887019753,
                        "pitch": 0.3036770224571228,
                        "yaw": -89.53881072998047
                    }
                },
                "velocity": {
                    "x": 0.005335839930921793,
                    "y": -1.0068446397781372,
                    "z": 0.005424871109426022
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.5733442306518555,
                "transform": {
                    "location": {
                        "x": 2171.118896484375,
                        "y": 2527.331298828125,
                        "z": 364.8874816894531
                    },
                    "rotation": {
                        "roll": 0.0005070249899290502,
                        "pitch": 1.0683575868606567,
                        "yaw": -0.13446044921875
                    }
                },
                "velocity": {
                    "x": 0.5732521414756775,
                    "y": -0.001997306477278471,
                    "z": 0.010079707950353622
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003201402723789215,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021866110619157553,
                        "pitch": 0.218142569065094,
                        "yaw": -179.7992401123047
                    }
                },
                "velocity": {
                    "x": 9.690523256722372e-06,
                    "y": -2.6283523766323924e-05,
                    "z": -0.00031891229446046054
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 9.475654223933816e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.2723152142134495e-05,
                    "y": -2.3263659386429936e-05,
                    "z": -8.900147076928988e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0004351994430180639,
                "transform": {
                    "location": {
                        "x": 2160.670654296875,
                        "y": 2527.354736328125,
                        "z": 364.76287841796875
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.3280198276042938,
                        "yaw": -0.1382140964269638
                    }
                },
                "velocity": {
                    "x": -3.8093701732577756e-05,
                    "y": -8.650718882563524e-06,
                    "z": 0.00043344273581169546
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.6958686113357544,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.17236328125,
                        "z": 365.0758056640625
                    },
                    "rotation": {
                        "roll": 0.000103387312265113,
                        "pitch": 0.20588921010494232,
                        "yaw": 90.07972717285156
                    }
                },
                "velocity": {
                    "x": -0.0031501557677984238,
                    "y": 1.6958438158035278,
                    "z": 0.008615073747932911
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005317336763255298,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": 6.3200618569680955e-06,
                    "y": -8.226875252148602e-06,
                    "z": 0.0005316324532032013
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.000927214976400137,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.5135803222656
                    },
                    "rotation": {
                        "roll": 0.03996172919869423,
                        "pitch": -1.4201328754425049,
                        "yaw": 178.23277282714844
                    }
                },
                "velocity": {
                    "x": -7.231860945466906e-05,
                    "y": -1.2564489225042053e-05,
                    "z": 0.00092430500080809
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9823086857795715,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2478.85546875,
                        "z": 364.94268798828125
                    },
                    "rotation": {
                        "roll": 0.0003034830733668059,
                        "pitch": 0.37671223282814026,
                        "yaw": 90.156494140625
                    }
                },
                "velocity": {
                    "x": -0.0013531669974327087,
                    "y": 0.982285737991333,
                    "z": 0.006575755774974823
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.01663174293935299,
                "transform": {
                    "location": {
                        "x": 2171.16943359375,
                        "y": 2524.4755859375,
                        "z": 364.89495849609375
                    },
                    "rotation": {
                        "roll": -0.01385498046875,
                        "pitch": -1.1453543901443481,
                        "yaw": 179.87457275390625
                    }
                },
                "velocity": {
                    "x": -0.0002174894470954314,
                    "y": -5.387261262512766e-05,
                    "z": 0.016630234196782112
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.0444163903594017,
        "expert_target_speed": 0.0,
        "target_point": [
            27.643324471368015,
            4.9559692030005005
        ],
        "target_point_next": [
            27.643324471368015,
            4.9559692030005005
        ]
    },
    "525": {
        "acceleration": [
            -0.35406672954559326,
            0.07350008934736252,
            0.0010497448965907097
        ],
        "angular_velocity": [
            0.0821419283747673,
            0.11389932036399841,
            -0.40592366456985474
        ],
        "forward_vector": [
            -0.9809426069259644,
            0.19363214075565338,
            -0.016069315373897552
        ],
        "right_vector": [
            -0.1936200112104416,
            -0.9810738563537598,
            -0.0023221794981509447
        ],
        "location": [
            2176.248779296875,
            2524.03759765625,
            364.98077392578125
        ],
        "rotation": [
            0.13306838274002075,
            -0.9207435846328735,
            168.83370971679688
        ],
        "velocity": [
            -0.021008070558309555,
            -0.0024374602362513542,
            -0.0023737335577607155
        ],
        "speed": 0.02114900094534537,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.099405765533447,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.1689453125,
                2524.475830078125,
                364.89605712890625
            ],
            "velocity": [
                -6.016686529619619e-05,
                6.783505523344502e-05,
                -0.0003014220274053514
            ],
            "speed_kmh": 0.0011331533125054562,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6842671632766724,
                "transform": {
                    "location": {
                        "x": 2148.684814453125,
                        "y": 2527.35302734375,
                        "z": 364.7454528808594
                    },
                    "rotation": {
                        "roll": -0.0015258786734193563,
                        "pitch": -0.2294328659772873,
                        "yaw": 0.3866616189479828
                    }
                },
                "velocity": {
                    "x": 1.6842643022537231,
                    "y": 0.0010248946491628885,
                    "z": -0.002983169397339225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.2319655418396,
                "transform": {
                    "location": {
                        "x": 2187.8896484375,
                        "y": 2557.860107421875,
                        "z": 365.1325988769531
                    },
                    "rotation": {
                        "roll": -0.0011901515536010265,
                        "pitch": 0.7345321774482727,
                        "yaw": -89.9195556640625
                    }
                },
                "velocity": {
                    "x": 0.00819351151585579,
                    "y": -4.231934547424316,
                    "z": 0.014043435454368591
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0025682554114609957,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2469.31494140625,
                        "z": 364.85736083984375
                    },
                    "rotation": {
                        "roll": 0.001228062785230577,
                        "pitch": 0.12293656915426254,
                        "yaw": 90.03223419189453
                    }
                },
                "velocity": {
                    "x": -7.757463754387572e-05,
                    "y": -0.002541984198614955,
                    "z": 0.0003580979537218809
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015687550185248256,
                "transform": {
                    "location": {
                        "x": 2210.545654296875,
                        "y": 2524.289306640625,
                        "z": 365.7737121582031
                    },
                    "rotation": {
                        "roll": 0.022007854655385017,
                        "pitch": -1.8209556341171265,
                        "yaw": 179.24366760253906
                    }
                },
                "velocity": {
                    "x": 0.0015588501701131463,
                    "y": 8.779676136327907e-05,
                    "z": 0.00015254534082487226
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.604005336761475,
                "transform": {
                    "location": {
                        "x": 2187.914306640625,
                        "y": 2545.0244140625,
                        "z": 365.1625671386719
                    },
                    "rotation": {
                        "roll": -0.00021362522966228426,
                        "pitch": 0.04389079287648201,
                        "yaw": -89.55223846435547
                    }
                },
                "velocity": {
                    "x": 0.016765518113970757,
                    "y": -4.603973388671875,
                    "z": 0.0038049411959946156
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8104777336120605,
                "transform": {
                    "location": {
                        "x": 2224.764892578125,
                        "y": 2524.29052734375,
                        "z": 366.1873474121094
                    },
                    "rotation": {
                        "roll": -0.003784178989008069,
                        "pitch": -1.760809063911438,
                        "yaw": -179.92555236816406
                    }
                },
                "velocity": {
                    "x": -1.809629201889038,
                    "y": -0.0015682410448789597,
                    "z": -0.05539911612868309
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.00025218460359610617,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2489.20556640625,
                        "z": 365.00433349609375
                    },
                    "rotation": {
                        "roll": 0.00033615357824601233,
                        "pitch": 0.36750513315200806,
                        "yaw": 90.0500259399414
                    }
                },
                "velocity": {
                    "x": -4.643875581678003e-05,
                    "y": -1.7052441762643866e-05,
                    "z": 0.00024728471180424094
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.208170175552368,
                "transform": {
                    "location": {
                        "x": 2185.146728515625,
                        "y": 2455.302490234375,
                        "z": 364.7205810546875
                    },
                    "rotation": {
                        "roll": -0.0013122337404638529,
                        "pitch": 0.7657529711723328,
                        "yaw": 90.42366027832031
                    }
                },
                "velocity": {
                    "x": -0.029584435746073723,
                    "y": 2.20786190032959,
                    "z": 0.022043665871024132
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.778411626815796,
                "transform": {
                    "location": {
                        "x": 2187.838623046875,
                        "y": 2570.0234375,
                        "z": 365.12127685546875
                    },
                    "rotation": {
                        "roll": 0.0012698133941739798,
                        "pitch": 0.3611394166946411,
                        "yaw": -89.57354736328125
                    }
                },
                "velocity": {
                    "x": 0.011136538349092007,
                    "y": -1.7783536911010742,
                    "z": 0.00905254390090704
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4823697805404663,
                "transform": {
                    "location": {
                        "x": 2171.376708984375,
                        "y": 2527.330322265625,
                        "z": 364.8921813964844
                    },
                    "rotation": {
                        "roll": -0.0014343260554596782,
                        "pitch": 1.142164707183838,
                        "yaw": -0.1649169921875
                    }
                },
                "velocity": {
                    "x": 1.4821182489395142,
                    "y": -0.0036129041109234095,
                    "z": 0.027062969282269478
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005400673253461719,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.002691463101655245,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.7992401123047
                    }
                },
                "velocity": {
                    "x": 5.704574050469091e-06,
                    "y": -4.131357400183333e-06,
                    "z": -0.0005400213995017111
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.730293974513188e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 9.463280548516195e-06,
                    "y": -1.193434127344517e-05,
                    "z": -3.4051830880343914e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 9.786549344426021e-05,
                "transform": {
                    "location": {
                        "x": 2160.670654296875,
                        "y": 2527.354736328125,
                        "z": 364.76287841796875
                    },
                    "rotation": {
                        "roll": -0.0008850097074173391,
                        "pitch": 0.3280198276042938,
                        "yaw": -0.1382140964269638
                    }
                },
                "velocity": {
                    "x": -9.671077350503765e-06,
                    "y": -1.3219728316471446e-06,
                    "z": 9.737749496707693e-05
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.084476947784424,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.679443359375,
                        "z": 365.07818603515625
                    },
                    "rotation": {
                        "roll": -3.0522674933308735e-05,
                        "pitch": 0.23981475830078125,
                        "yaw": 90.09928894042969
                    }
                },
                "velocity": {
                    "x": -0.004006179049611092,
                    "y": 2.0844485759735107,
                    "z": 0.010120372287929058
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.0115192203084007e-05,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": 5.5779235452746434e-08,
                    "y": -7.819496204319876e-06,
                    "z": 2.9082248147460632e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.001292669796384871,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.51361083984375
                    },
                    "rotation": {
                        "roll": 0.040452707558870316,
                        "pitch": -1.4183911085128784,
                        "yaw": 178.2325439453125
                    }
                },
                "velocity": {
                    "x": -7.40328396204859e-05,
                    "y": -1.6740004866733216e-05,
                    "z": 0.0012904395116493106
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.8579514026641846,
                "transform": {
                    "location": {
                        "x": 2185.03369140625,
                        "y": 2479.214111328125,
                        "z": 364.9455871582031
                    },
                    "rotation": {
                        "roll": 0.000506458047311753,
                        "pitch": 0.3635709583759308,
                        "yaw": 90.15042877197266
                    }
                },
                "velocity": {
                    "x": -0.0028159876819700003,
                    "y": 1.8578908443450928,
                    "z": 0.014740371145308018
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.00031476482399739325,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.475830078125,
                        "z": 364.89605712890625
                    },
                    "rotation": {
                        "roll": 0.002091913716867566,
                        "pitch": -1.1020441055297852,
                        "yaw": 179.8741455078125
                    }
                },
                "velocity": {
                    "x": -6.016686529619619e-05,
                    "y": 6.783505523344502e-05,
                    "z": -0.0003014220274053514
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04520397633314133,
        "expert_target_speed": 0.0,
        "target_point": [
            27.642776027330097,
            4.959051352129038
        ],
        "target_point_next": [
            27.642776027330097,
            4.959051352129038
        ]
    },
    "530": {
        "acceleration": [
            -0.8570185303688049,
            0.07609084993600845,
            -0.0470840260386467
        ],
        "angular_velocity": [
            -0.228733628988266,
            0.1511821448802948,
            -0.11471717059612274
        ],
        "forward_vector": [
            -0.9808921217918396,
            0.19385860860347748,
            -0.016416525468230247
        ],
        "right_vector": [
            -0.19384677708148956,
            -0.9810290932655334,
            -0.002323926892131567
        ],
        "location": [
            2176.248779296875,
            2524.037353515625,
            364.9805908203125
        ],
        "rotation": [
            0.1331692636013031,
            -0.9406399130821228,
            168.82041931152344
        ],
        "velocity": [
            -0.031431324779987335,
            -0.00112393859308213,
            -0.002115668263286352
        ],
        "speed": 0.03145141356737508,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.099435329437256,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.1689453125,
                2524.475830078125,
                364.8953552246094
            ],
            "velocity": [
                -0.0004974840558134019,
                0.0001972964673768729,
                -0.0015325957210734487
            ],
            "speed_kmh": 0.005844060780142901,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.6881815195083618,
                "transform": {
                    "location": {
                        "x": 2149.13037109375,
                        "y": 2527.350341796875,
                        "z": 364.7438659667969
                    },
                    "rotation": {
                        "roll": -0.0025634765625,
                        "pitch": -0.22979487478733063,
                        "yaw": 0.6781260371208191
                    }
                },
                "velocity": {
                    "x": 1.688161015510559,
                    "y": -0.005776635371148586,
                    "z": -0.005994806066155434
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 5.334343433380127,
                "transform": {
                    "location": {
                        "x": 2187.8916015625,
                        "y": 2556.63720703125,
                        "z": 365.1364440917969
                    },
                    "rotation": {
                        "roll": 0.0008281215559691191,
                        "pitch": 0.7339174747467041,
                        "yaw": -89.91586303710938
                    }
                },
                "velocity": {
                    "x": 0.009032340720295906,
                    "y": -5.334311008453369,
                    "z": 0.016170892864465714
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013488695258274674,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2469.31640625,
                        "z": 364.8577575683594
                    },
                    "rotation": {
                        "roll": 0.0008387742564082146,
                        "pitch": 0.4127209782600403,
                        "yaw": 90.03221893310547
                    }
                },
                "velocity": {
                    "x": 0.00021431079949252307,
                    "y": -0.0013238465180620551,
                    "z": 0.00014474210911430418
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015739495866000652,
                "transform": {
                    "location": {
                        "x": 2210.5439453125,
                        "y": 2524.289306640625,
                        "z": 365.77392578125
                    },
                    "rotation": {
                        "roll": 0.017066648229956627,
                        "pitch": -1.6125733852386475,
                        "yaw": 179.24366760253906
                    }
                },
                "velocity": {
                    "x": 0.0009013327653519809,
                    "y": 5.486790541908704e-05,
                    "z": 0.0012891493970528245
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.096453666687012,
                "transform": {
                    "location": {
                        "x": 2187.917236328125,
                        "y": 2543.93017578125,
                        "z": 365.1632080078125
                    },
                    "rotation": {
                        "roll": 0.0023939763195812702,
                        "pitch": -0.026671886444091797,
                        "yaw": -89.740234375
                    }
                },
                "velocity": {
                    "x": 0.008350304327905178,
                    "y": -4.096445083618164,
                    "z": 0.000878725026268512
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.0981061458587646,
                "transform": {
                    "location": {
                        "x": 2224.300537109375,
                        "y": 2524.2900390625,
                        "z": 366.17315673828125
                    },
                    "rotation": {
                        "roll": -0.0022888188250362873,
                        "pitch": -1.7287548780441284,
                        "yaw": 179.96441650390625
                    }
                },
                "velocity": {
                    "x": -2.097133159637451,
                    "y": -0.0019615364726632833,
                    "z": -0.06386351585388184
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.20263493061065674,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2489.224365234375,
                        "z": 365.00439453125
                    },
                    "rotation": {
                        "roll": 0.0009333679918199778,
                        "pitch": 0.37477928400039673,
                        "yaw": 90.05315399169922
                    }
                },
                "velocity": {
                    "x": -0.0003635335015133023,
                    "y": 0.2026253640651703,
                    "z": 0.001935338950715959
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3559894859790802,
                "transform": {
                    "location": {
                        "x": 2185.143310546875,
                        "y": 2455.547119140625,
                        "z": 364.72259521484375
                    },
                    "rotation": {
                        "roll": 0.0061973147094249725,
                        "pitch": 0.41054898500442505,
                        "yaw": 90.64274597167969
                    }
                },
                "velocity": {
                    "x": -0.006369912996888161,
                    "y": 0.3559094965457916,
                    "z": 0.004044942557811737
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.2674903869628906,
                "transform": {
                    "location": {
                        "x": 2187.842529296875,
                        "y": 2569.4775390625,
                        "z": 365.1242370605469
                    },
                    "rotation": {
                        "roll": 0.001100815017707646,
                        "pitch": 0.3517683744430542,
                        "yaw": -89.59077453613281
                    }
                },
                "velocity": {
                    "x": 0.01369442231953144,
                    "y": -2.2674176692962646,
                    "z": 0.011931991204619408
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.4185335636138916,
                "transform": {
                    "location": {
                        "x": 2171.858154296875,
                        "y": 2527.3291015625,
                        "z": 364.9009704589844
                    },
                    "rotation": {
                        "roll": -0.0009155275183729827,
                        "pitch": 1.1942789554595947,
                        "yaw": -0.1207275465130806
                    }
                },
                "velocity": {
                    "x": 2.4181389808654785,
                    "y": -0.007149633020162582,
                    "z": 0.043107956647872925
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002499818510841578,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0026873366441577673,
                        "pitch": 0.21785570681095123,
                        "yaw": -179.7992401123047
                    }
                },
                "velocity": {
                    "x": 4.787333182321163e-06,
                    "y": 3.6031429772265255e-05,
                    "z": -0.0002473251661285758
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005066344747319818,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 4.4469907152233645e-06,
                    "y": 4.296414317650488e-06,
                    "z": 0.0005065967561677098
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.004408703651279211,
                "transform": {
                    "location": {
                        "x": 2160.669677734375,
                        "y": 2527.354736328125,
                        "z": 364.76287841796875
                    },
                    "rotation": {
                        "roll": -0.000701904296875,
                        "pitch": 0.3287779688835144,
                        "yaw": -0.1386413425207138
                    }
                },
                "velocity": {
                    "x": -0.004373041447252035,
                    "y": -2.4369743186980486e-05,
                    "z": 0.0005590915679931641
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0007386196521110833,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.9130859375,
                        "z": 365.0774230957031
                    },
                    "rotation": {
                        "roll": 0.00038733301335014403,
                        "pitch": 0.47493717074394226,
                        "yaw": 90.1684341430664
                    }
                },
                "velocity": {
                    "x": -0.00015053882088977844,
                    "y": -0.0003951898543164134,
                    "z": 0.0006055758567526937
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0003516350407153368,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": 5.275845069263596e-06,
                    "y": -6.515867880807491e-06,
                    "z": 0.0003515350690577179
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00017639831639826298,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.51361083984375
                    },
                    "rotation": {
                        "roll": 0.040452707558870316,
                        "pitch": -1.4183911085128784,
                        "yaw": 178.2325439453125
                    }
                },
                "velocity": {
                    "x": -5.420267552835867e-05,
                    "y": -2.1103918697917834e-05,
                    "z": 0.00016653246711939573
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.920627474784851,
                "transform": {
                    "location": {
                        "x": 2185.033447265625,
                        "y": 2479.73046875,
                        "z": 364.9490051269531
                    },
                    "rotation": {
                        "roll": 0.0004985635750927031,
                        "pitch": 0.4160268008708954,
                        "yaw": 90.13526916503906
                    }
                },
                "velocity": {
                    "x": -0.0034054890275001526,
                    "y": 1.9205758571624756,
                    "z": 0.013674545101821423
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0016233501955866814,
                "transform": {
                    "location": {
                        "x": 2171.1689453125,
                        "y": 2524.475830078125,
                        "z": 364.8953552246094
                    },
                    "rotation": {
                        "roll": 0.009141139686107635,
                        "pitch": -1.1010128259658813,
                        "yaw": 179.8736572265625
                    }
                },
                "velocity": {
                    "x": -0.0004974840558134019,
                    "y": 0.0001972964673768729,
                    "z": -0.0015325957210734487
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.046834878623485565,
        "expert_target_speed": 0.0,
        "target_point": [
            27.641673395315777,
            4.965217726933508
        ],
        "target_point_next": [
            27.641673395315777,
            4.965217726933508
        ]
    },
    "535": {
        "acceleration": [
            0.06973698735237122,
            -0.10018859058618546,
            0.029411746188998222
        ],
        "angular_velocity": [
            0.0034447896759957075,
            -0.11209769546985626,
            -0.30938786268234253
        ],
        "forward_vector": [
            -0.9809560179710388,
            0.1935400515794754,
            -0.016354188323020935
        ],
        "right_vector": [
            -0.19352862238883972,
            -0.9810919761657715,
            -0.0022934074513614178
        ],
        "location": [
            2176.2490234375,
            2524.037353515625,
            364.9804992675781
        ],
        "rotation": [
            0.13142026960849762,
            -0.9370677471160889,
            168.8390350341797
        ],
        "velocity": [
            0.001764032058417797,
            0.005819925107061863,
            -9.955406130757183e-05
        ],
        "speed": 0.006081392715072327,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.099435329437256,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.169189453125,
                2524.475830078125,
                364.895263671875
            ],
            "velocity": [
                6.33038580417633e-05,
                -5.4593336244579405e-05,
                -0.0006075514829717577
            ],
            "speed_kmh": 0.0022077911436214743,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.8743407726287842,
                "transform": {
                    "location": {
                        "x": 2149.551025390625,
                        "y": 2527.360107421875,
                        "z": 364.7420959472656
                    },
                    "rotation": {
                        "roll": -0.001861572265625,
                        "pitch": -0.21691995859146118,
                        "yaw": -0.2203674167394638
                    }
                },
                "velocity": {
                    "x": 1.8742934465408325,
                    "y": 0.011572780087590218,
                    "z": -0.006592778954654932
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.8410820960998535,
                "transform": {
                    "location": {
                        "x": 2187.890625,
                        "y": 2555.682373046875,
                        "z": 365.1428527832031
                    },
                    "rotation": {
                        "roll": -0.0033569426741451025,
                        "pitch": -0.39175230264663696,
                        "yaw": -89.63319396972656
                    }
                },
                "velocity": {
                    "x": 0.002399792429059744,
                    "y": -2.8410725593566895,
                    "z": 0.006993646267801523
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.14475461840629578,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2469.32861328125,
                        "z": 364.8580017089844
                    },
                    "rotation": {
                        "roll": -9.154420695267618e-05,
                        "pitch": 0.5127627849578857,
                        "yaw": 90.0591049194336
                    }
                },
                "velocity": {
                    "x": -0.002794346772134304,
                    "y": 0.14470720291137695,
                    "z": 0.0024326799903064966
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0013977427734062076,
                "transform": {
                    "location": {
                        "x": 2210.543701171875,
                        "y": 2524.289306640625,
                        "z": 365.77398681640625
                    },
                    "rotation": {
                        "roll": 0.015855329111218452,
                        "pitch": -1.5593867301940918,
                        "yaw": 179.24359130859375
                    }
                },
                "velocity": {
                    "x": 0.0001655183732509613,
                    "y": 0.00029998054378665984,
                    "z": 0.0013551015872508287
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 4.0831403732299805,
                "transform": {
                    "location": {
                        "x": 2187.9189453125,
                        "y": 2542.896240234375,
                        "z": 365.1636657714844
                    },
                    "rotation": {
                        "roll": 0.0023801899515092373,
                        "pitch": 0.010081358253955841,
                        "yaw": -89.84600067138672
                    }
                },
                "velocity": {
                    "x": 0.004792816936969757,
                    "y": -4.083136558532715,
                    "z": 0.002881831955164671
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8907748460769653,
                "transform": {
                    "location": {
                        "x": 2223.8115234375,
                        "y": 2524.2900390625,
                        "z": 366.1581115722656
                    },
                    "rotation": {
                        "roll": 0.0011561644496396184,
                        "pitch": -1.7793256044387817,
                        "yaw": 179.8647918701172
                    }
                },
                "velocity": {
                    "x": -1.8898769617080688,
                    "y": -0.0007492354488931596,
                    "z": -0.05825622379779816
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.7811431288719177,
                "transform": {
                    "location": {
                        "x": 2185.023681640625,
                        "y": 2489.3505859375,
                        "z": 365.00518798828125
                    },
                    "rotation": {
                        "roll": 0.0006116227013990283,
                        "pitch": 0.38718292117118835,
                        "yaw": 90.07420349121094
                    }
                },
                "velocity": {
                    "x": -0.0011147157056257129,
                    "y": 0.781134307384491,
                    "z": 0.0035399626940488815
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.4498833417892456,
                "transform": {
                    "location": {
                        "x": 2185.1396484375,
                        "y": 2455.785888671875,
                        "z": 364.7255859375
                    },
                    "rotation": {
                        "roll": 0.003797701792791486,
                        "pitch": 0.6915566325187683,
                        "yaw": 90.62928009033203
                    }
                },
                "velocity": {
                    "x": -0.021716613322496414,
                    "y": 1.4496432542800903,
                    "z": 0.014983692206442356
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 0.3527924120426178,
                "transform": {
                    "location": {
                        "x": 2187.843505859375,
                        "y": 2569.279296875,
                        "z": 365.1270751953125
                    },
                    "rotation": {
                        "roll": 0.000943256018217653,
                        "pitch": 0.14098192751407623,
                        "yaw": -89.57067108154297
                    }
                },
                "velocity": {
                    "x": 0.002071224618703127,
                    "y": -0.35278284549713135,
                    "z": 0.0015649222768843174
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8515267372131348,
                "transform": {
                    "location": {
                        "x": 2172.658935546875,
                        "y": 2527.326416015625,
                        "z": 364.9157409667969
                    },
                    "rotation": {
                        "roll": 0.0003150888078380376,
                        "pitch": 1.3088213205337524,
                        "yaw": -0.1453857272863388
                    }
                },
                "velocity": {
                    "x": 3.8508806228637695,
                    "y": -0.011863823980093002,
                    "z": 0.06953515857458115
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00019227774464525282,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.002445508958771825,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.7992401123047
                    }
                },
                "velocity": {
                    "x": 1.2039541616104543e-05,
                    "y": -9.867550943454262e-06,
                    "z": 0.00019164658442605287
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004743839963339269,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.6608870282652788e-05,
                    "y": 8.071641786955297e-06,
                    "z": 0.00047402444761246443
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.014297583140432835,
                "transform": {
                    "location": {
                        "x": 2160.666259765625,
                        "y": 2527.354736328125,
                        "z": 364.76287841796875
                    },
                    "rotation": {
                        "roll": -6.103516352595761e-05,
                        "pitch": 0.3301030099391937,
                        "yaw": -0.1378173679113388
                    }
                },
                "velocity": {
                    "x": -0.01429523341357708,
                    "y": 0.00011701488256221637,
                    "z": -0.0002312946307938546
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009606730891391635,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.912353515625,
                        "z": 365.0785827636719
                    },
                    "rotation": {
                        "roll": 0.00021264651149976999,
                        "pitch": 0.32978883385658264,
                        "yaw": 90.16840362548828
                    }
                },
                "velocity": {
                    "x": -2.7971533199888654e-05,
                    "y": -0.0004347569483797997,
                    "z": 0.0008562107104808092
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016793211398180574,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": 5.7276711231679656e-06,
                    "y": -6.838608442194527e-06,
                    "z": 0.0001676950341789052
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0006594407022930682,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.51361083984375
                    },
                    "rotation": {
                        "roll": 0.040452707558870316,
                        "pitch": -1.4183911085128784,
                        "yaw": 178.2325439453125
                    }
                },
                "velocity": {
                    "x": -6.353572098305449e-05,
                    "y": -2.0404031602083705e-06,
                    "z": 0.0006563696078956127
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.001010808744467795,
                "transform": {
                    "location": {
                        "x": 2185.033203125,
                        "y": 2479.842041015625,
                        "z": 364.94842529296875
                    },
                    "rotation": {
                        "roll": 0.0016018697060644627,
                        "pitch": 0.5856340527534485,
                        "yaw": 90.12061309814453
                    }
                },
                "velocity": {
                    "x": -3.241273816456669e-06,
                    "y": -0.0008953060605563223,
                    "z": 0.0004692023212555796
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0006132753333076835,
                "transform": {
                    "location": {
                        "x": 2171.169189453125,
                        "y": 2524.475830078125,
                        "z": 364.895263671875
                    },
                    "rotation": {
                        "roll": 0.009793118573725224,
                        "pitch": -1.1118454933166504,
                        "yaw": 179.8732147216797
                    }
                },
                "velocity": {
                    "x": 6.33038580417633e-05,
                    "y": -5.4593336244579405e-05,
                    "z": -0.0006075514829717577
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04578856751322746,
        "expert_target_speed": 0.0,
        "target_point": [
            27.64352379701102,
            4.956288749587796
        ],
        "target_point_next": [
            27.64352379701102,
            4.956288749587796
        ]
    },
    "540": {
        "acceleration": [
            -0.16381055116653442,
            0.14677540957927704,
            0.018294041976332664
        ],
        "angular_velocity": [
            0.10676075518131256,
            -0.07854996621608734,
            0.5820959806442261
        ],
        "forward_vector": [
            -0.9808918833732605,
            0.19394239783287048,
            -0.015411004424095154
        ],
        "right_vector": [
            -0.19393420219421387,
            -0.9810124039649963,
            -0.002039095154032111
        ],
        "location": [
            2176.248046875,
            2524.03662109375,
            364.9799499511719
        ],
        "rotation": [
            0.11684550344944,
            -0.8830204606056213,
            168.81570434570312
        ],
        "velocity": [
            0.004135478753596544,
            0.007291573565453291,
            0.00036787480348721147
        ],
        "speed": 0.008382674369308738,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.098267078399658,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16943359375,
                2524.475830078125,
                364.8956298828125
            ],
            "velocity": [
                0.00011435329361120239,
                -0.0004941244260407984,
                0.0010080677457153797
            ],
            "speed_kmh": 0.004062478702149156,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.221923589706421,
                "transform": {
                    "location": {
                        "x": 2149.985595703125,
                        "y": 2527.357177734375,
                        "z": 364.74029541015625
                    },
                    "rotation": {
                        "roll": -0.00027465817402116954,
                        "pitch": -0.19338996708393097,
                        "yaw": 0.11581657826900482
                    }
                },
                "velocity": {
                    "x": 2.2219088077545166,
                    "y": -0.0021925948094576597,
                    "z": -0.00776887871325016
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.417774677276611,
                "transform": {
                    "location": {
                        "x": 2187.89306640625,
                        "y": 2554.7421875,
                        "z": 365.1429138183594
                    },
                    "rotation": {
                        "roll": -0.003417964093387127,
                        "pitch": 0.2827971279621124,
                        "yaw": -89.73345947265625
                    }
                },
                "velocity": {
                    "x": 0.011116373352706432,
                    "y": -4.4177470207214355,
                    "z": 0.010933179408311844
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0006556510925293,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2469.47998046875,
                        "z": 364.8594970703125
                    },
                    "rotation": {
                        "roll": 0.0010332323145121336,
                        "pitch": 0.6150584816932678,
                        "yaw": 90.0706558227539
                    }
                },
                "velocity": {
                    "x": -0.0020534039940685034,
                    "y": 1.0006135702133179,
                    "z": 0.00894537940621376
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0011034307535737753,
                "transform": {
                    "location": {
                        "x": 2210.54345703125,
                        "y": 2524.289306640625,
                        "z": 365.7740478515625
                    },
                    "rotation": {
                        "roll": 0.016477804630994797,
                        "pitch": -1.5438207387924194,
                        "yaw": 179.24354553222656
                    }
                },
                "velocity": {
                    "x": -4.316985359764658e-05,
                    "y": 2.5706560336402617e-05,
                    "z": 0.0011022862745448947
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.8816680908203125,
                "transform": {
                    "location": {
                        "x": 2187.91943359375,
                        "y": 2541.924072265625,
                        "z": 365.1638488769531
                    },
                    "rotation": {
                        "roll": 0.0008684290805831552,
                        "pitch": -0.012451434507966042,
                        "yaw": -89.90878295898438
                    }
                },
                "velocity": {
                    "x": 0.0024806982837617397,
                    "y": -3.881667137145996,
                    "z": 0.0014319991460070014
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1257174015045166,
                "transform": {
                    "location": {
                        "x": 2223.278076171875,
                        "y": 2524.290283203125,
                        "z": 366.1418762207031
                    },
                    "rotation": {
                        "roll": 0.0030513594392687082,
                        "pitch": -1.7351343631744385,
                        "yaw": 179.8137969970703
                    }
                },
                "velocity": {
                    "x": -2.1247076988220215,
                    "y": 0.0006219526985660195,
                    "z": -0.06551022082567215
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.2740803956985474,
                "transform": {
                    "location": {
                        "x": 2185.0234375,
                        "y": 2489.60400390625,
                        "z": 365.0067443847656
                    },
                    "rotation": {
                        "roll": -9.155598672805354e-05,
                        "pitch": 0.38926613330841064,
                        "yaw": 90.06204223632812
                    }
                },
                "velocity": {
                    "x": -0.0018752369796857238,
                    "y": 1.2740559577941895,
                    "z": 0.007664003409445286
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.39062762260437,
                "transform": {
                    "location": {
                        "x": 2185.132080078125,
                        "y": 2456.26904296875,
                        "z": 364.7306823730469
                    },
                    "rotation": {
                        "roll": 0.004932835232466459,
                        "pitch": 0.7522565126419067,
                        "yaw": 90.71607208251953
                    }
                },
                "velocity": {
                    "x": -0.036874525249004364,
                    "y": 2.390202283859253,
                    "z": 0.025957994163036346
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.2634364366531372,
                "transform": {
                    "location": {
                        "x": 2187.84521484375,
                        "y": 2569.056884765625,
                        "z": 365.1265869140625
                    },
                    "rotation": {
                        "roll": 0.0011227040085941553,
                        "pitch": 0.327958345413208,
                        "yaw": -89.58734893798828
                    }
                },
                "velocity": {
                    "x": 0.007862195372581482,
                    "y": -1.2633945941925049,
                    "z": 0.006613082718104124
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.141836166381836,
                "transform": {
                    "location": {
                        "x": 2173.5400390625,
                        "y": 2527.36279296875,
                        "z": 364.9314270019531
                    },
                    "rotation": {
                        "roll": -0.01708984188735485,
                        "pitch": 1.1221932172775269,
                        "yaw": 1.251853585243225
                    }
                },
                "velocity": {
                    "x": 3.137307643890381,
                    "y": 0.15777058899402618,
                    "z": 0.05952099710702896
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00024638630566187203,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.002445508958771825,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.7992401123047
                    }
                },
                "velocity": {
                    "x": 1.2823380529880524e-05,
                    "y": 2.8438707886380143e-05,
                    "z": 0.0002444033743813634
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 7.340138836298138e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 9.855330063146539e-06,
                    "y": -1.167128993984079e-05,
                    "z": 7.179426756920293e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.3668803870677948,
                "transform": {
                    "location": {
                        "x": 2160.685791015625,
                        "y": 2527.35498046875,
                        "z": 364.76263427734375
                    },
                    "rotation": {
                        "roll": -0.0005187987699173391,
                        "pitch": 0.37920525670051575,
                        "yaw": -0.1697692722082138
                    }
                },
                "velocity": {
                    "x": 0.3668680787086487,
                    "y": 9.172420686809346e-05,
                    "z": 0.0030026244930922985
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0008789178100414574,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.912109375,
                        "z": 365.0788269042969
                    },
                    "rotation": {
                        "roll": 0.000529507000464946,
                        "pitch": 0.30080151557922363,
                        "yaw": 90.16842651367188
                    }
                },
                "velocity": {
                    "x": -7.31413674657233e-05,
                    "y": -8.004780829651281e-05,
                    "z": 0.0008722036727704108
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0010678413091227412,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": -1.6773923562141135e-05,
                    "y": -1.0452400601934642e-05,
                    "z": 0.001067658420652151
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.00040613082819618285,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.51361083984375
                    },
                    "rotation": {
                        "roll": 0.040452707558870316,
                        "pitch": -1.4183911085128784,
                        "yaw": 178.2325439453125
                    }
                },
                "velocity": {
                    "x": -6.175085582071915e-05,
                    "y": -1.341014740319224e-05,
                    "z": 0.0004011848068330437
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0011935660149902105,
                "transform": {
                    "location": {
                        "x": 2185.033203125,
                        "y": 2479.84130859375,
                        "z": 364.94940185546875
                    },
                    "rotation": {
                        "roll": -0.00015264363901223987,
                        "pitch": 0.460013210773468,
                        "yaw": 90.1206283569336
                    }
                },
                "velocity": {
                    "x": 5.180334028409561e-06,
                    "y": -0.00028873240808025,
                    "z": 0.001158104743808508
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001128466334193945,
                "transform": {
                    "location": {
                        "x": 2171.16943359375,
                        "y": 2524.475830078125,
                        "z": 364.8956298828125
                    },
                    "rotation": {
                        "roll": 0.004794418346136808,
                        "pitch": -1.1403205394744873,
                        "yaw": 179.87261962890625
                    }
                },
                "velocity": {
                    "x": 0.00011435329361120239,
                    "y": -0.0004941244260407984,
                    "z": 0.0010080677457153797
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04401123896241188,
        "expert_target_speed": 0.0,
        "target_point": [
            27.640689626876203,
            4.966624193470755
        ],
        "target_point_next": [
            27.640689626876203,
            4.966624193470755
        ]
    },
    "545": {
        "acceleration": [
            -0.632213294506073,
            -0.03131447359919548,
            -0.010624973103404045
        ],
        "angular_velocity": [
            -0.1497841775417328,
            0.3009510338306427,
            0.05150745436549187
        ],
        "forward_vector": [
            -0.9807366132736206,
            0.19473744928836823,
            -0.015262487344443798
        ],
        "right_vector": [
            -0.19473284482955933,
            -0.9808546900749207,
            -0.0018015573732554913
        ],
        "location": [
            2176.247802734375,
            2524.03662109375,
            364.9798278808594
        ],
        "rotation": [
            0.1032337173819542,
            -0.8745100498199463,
            168.769287109375
        ],
        "velocity": [
            -0.027458766475319862,
            0.004191028885543346,
            -0.001989111304283142
        ],
        "speed": 0.0277767633007449,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.098019123077393,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.16943359375,
                2524.475830078125,
                364.8957824707031
            ],
            "velocity": [
                -0.0006236530607566237,
                0.00015702108794357628,
                0.0017061769030988216
            ],
            "speed_kmh": 0.006564092739629519,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.7755109071731567,
                "transform": {
                    "location": {
                        "x": 2150.427734375,
                        "y": 2527.35400390625,
                        "z": 364.7386169433594
                    },
                    "rotation": {
                        "roll": -0.0014648436335846782,
                        "pitch": -0.1879872828722,
                        "yaw": 0.4087288975715637
                    }
                },
                "velocity": {
                    "x": 1.775493860244751,
                    "y": 0.0032891049049794674,
                    "z": -0.007044229190796614
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 4.839563846588135,
                "transform": {
                    "location": {
                        "x": 2187.896240234375,
                        "y": 2553.490234375,
                        "z": 365.1455383300781
                    },
                    "rotation": {
                        "roll": -0.004394488409161568,
                        "pitch": 0.46133142709732056,
                        "yaw": -89.71855163574219
                    }
                },
                "velocity": {
                    "x": 0.013479799032211304,
                    "y": -4.839532375335693,
                    "z": 0.011158723384141922
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0007722211885266006,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2469.564453125,
                        "z": 364.8600158691406
                    },
                    "rotation": {
                        "roll": 0.0005503926076926291,
                        "pitch": 0.42971450090408325,
                        "yaw": 90.04969787597656
                    }
                },
                "velocity": {
                    "x": -5.4059964895714074e-05,
                    "y": -0.0006674308096989989,
                    "z": -0.0003846286563202739
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015746495919302106,
                "transform": {
                    "location": {
                        "x": 2210.54345703125,
                        "y": 2524.289306640625,
                        "z": 365.7740478515625
                    },
                    "rotation": {
                        "roll": 0.016477804630994797,
                        "pitch": -1.5438207387924194,
                        "yaw": 179.24354553222656
                    }
                },
                "velocity": {
                    "x": -8.762269862927496e-05,
                    "y": -7.508260750910267e-06,
                    "z": 0.0015721918316558003
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.571237802505493,
                "transform": {
                    "location": {
                        "x": 2187.91943359375,
                        "y": 2540.98095703125,
                        "z": 365.163818359375
                    },
                    "rotation": {
                        "roll": 0.0008322027861140668,
                        "pitch": -0.047449320554733276,
                        "yaw": -89.94509887695312
                    }
                },
                "velocity": {
                    "x": 0.0015132896369323134,
                    "y": -3.571237087249756,
                    "z": 0.0016162300016731024
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.8823810815811157,
                "transform": {
                    "location": {
                        "x": 2222.818603515625,
                        "y": 2524.290283203125,
                        "z": 366.1277160644531
                    },
                    "rotation": {
                        "roll": 0.003422807902097702,
                        "pitch": -1.7882664203643799,
                        "yaw": 179.7425079345703
                    }
                },
                "velocity": {
                    "x": -1.8815034627914429,
                    "y": 0.0004643576976377517,
                    "z": -0.05747193843126297
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 1.8719178438186646,
                "transform": {
                    "location": {
                        "x": 2185.023193359375,
                        "y": 2489.998046875,
                        "z": 365.00927734375
                    },
                    "rotation": {
                        "roll": -0.0002441448741592467,
                        "pitch": 0.38991498947143555,
                        "yaw": 90.03336334228516
                    }
                },
                "velocity": {
                    "x": -0.0033450888004153967,
                    "y": 1.8718831539154053,
                    "z": 0.010898131877183914
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.627335250377655,
                "transform": {
                    "location": {
                        "x": 2185.12646484375,
                        "y": 2456.7744140625,
                        "z": 364.7356872558594
                    },
                    "rotation": {
                        "roll": 0.007485630922019482,
                        "pitch": 0.4693910777568817,
                        "yaw": 90.8437271118164
                    }
                },
                "velocity": {
                    "x": -0.006724451202899218,
                    "y": 0.6272634863853455,
                    "z": 0.006697492673993111
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 2.141024589538574,
                "transform": {
                    "location": {
                        "x": 2187.84716796875,
                        "y": 2568.62890625,
                        "z": 365.1283874511719
                    },
                    "rotation": {
                        "roll": 0.0018121334724128246,
                        "pitch": 0.375373512506485,
                        "yaw": -89.52100372314453
                    }
                },
                "velocity": {
                    "x": 0.013474822975695133,
                    "y": -2.1409547328948975,
                    "z": 0.010817117057740688
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 3.3070268630981445,
                "transform": {
                    "location": {
                        "x": 2174.3251953125,
                        "y": 2527.40673828125,
                        "z": 364.9471435546875
                    },
                    "rotation": {
                        "roll": 0.02417571283876896,
                        "pitch": 1.157594084739685,
                        "yaw": 2.191152811050415
                    }
                },
                "velocity": {
                    "x": 3.3008358478546143,
                    "y": 0.19149364531040192,
                    "z": 0.06510736048221588
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000341596023645252,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0022293280344456434,
                        "pitch": 0.2179035097360611,
                        "yaw": -179.79922485351562
                    }
                },
                "velocity": {
                    "x": 9.266622328141239e-06,
                    "y": -8.504401193931699e-06,
                    "z": 0.00034136438625864685
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00033492871443741024,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": -3.2364202979806578e-06,
                    "y": 2.226682909167721e-06,
                    "z": 0.0003349056642036885
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.9884618520736694,
                "transform": {
                    "location": {
                        "x": 2160.878173828125,
                        "y": 2527.354736328125,
                        "z": 364.76312255859375
                    },
                    "rotation": {
                        "roll": -0.00128173828125,
                        "pitch": 0.5228577852249146,
                        "yaw": -0.200897216796875
                    }
                },
                "velocity": {
                    "x": 0.9884260296821594,
                    "y": -0.003289093030616641,
                    "z": 0.007748985197395086
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.912109375,
                        "z": 365.078857421875
                    },
                    "rotation": {
                        "roll": 0.0003096571599598974,
                        "pitch": 0.29666924476623535,
                        "yaw": 90.16841125488281
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.000133252062369138,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": 1.7633239622227848e-05,
                    "y": -2.492701605660841e-05,
                    "z": 0.00012970669195055962
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.51951995678246e-05,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.51361083984375
                    },
                    "rotation": {
                        "roll": 0.040452707558870316,
                        "pitch": -1.4183911085128784,
                        "yaw": 178.2325439453125
                    }
                },
                "velocity": {
                    "x": -5.147442061570473e-05,
                    "y": -4.149505002715159e-06,
                    "z": 3.979422035627067e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.033203125,
                        "y": 2479.84130859375,
                        "z": 364.94940185546875
                    },
                    "rotation": {
                        "roll": -0.00015264363901223987,
                        "pitch": 0.460013210773468,
                        "yaw": 90.1206283569336
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0018233591690659523,
                "transform": {
                    "location": {
                        "x": 2171.16943359375,
                        "y": 2524.475830078125,
                        "z": 364.8957824707031
                    },
                    "rotation": {
                        "roll": 0.008944064378738403,
                        "pitch": -1.1405937671661377,
                        "yaw": 179.87185668945312
                    }
                },
                "velocity": {
                    "x": -0.0006236530607566237,
                    "y": 0.00015702108794357628,
                    "z": 0.0017061769030988216
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04566551744937897,
        "expert_target_speed": 0.0,
        "target_point": [
            27.636417398546186,
            4.988968015792358
        ],
        "target_point_next": [
            27.636417398546186,
            4.988968015792358
        ]
    },
    "550": {
        "acceleration": [
            -0.14143018424510956,
            -0.0052466122433543205,
            0.015247555449604988
        ],
        "angular_velocity": [
            -0.06163947284221649,
            -0.1757403314113617,
            -0.22151118516921997
        ],
        "forward_vector": [
            -0.9806652665138245,
            0.19516439735889435,
            -0.014366728253662586
        ],
        "right_vector": [
            -0.1951627880334854,
            -0.9807696342468262,
            -0.0015269914874807
        ],
        "location": [
            2176.2470703125,
            2524.0361328125,
            364.9794006347656
        ],
        "rotation": [
            0.0874992311000824,
            -0.8231812119483948,
            168.74449157714844
        ],
        "velocity": [
            -0.005142140202224255,
            -4.273891318007372e-05,
            0.0008343525696545839
        ],
        "speed": 0.0051423178114572725,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.097074508666992,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.169677734375,
                2524.475830078125,
                364.8962097167969
            ],
            "velocity": [
                -0.0004818376910407096,
                0.0002735960006248206,
                -0.00014179579738993198
            ],
            "speed_kmh": 0.0020590249652899556,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.385235548019409,
                "transform": {
                    "location": {
                        "x": 2150.87060546875,
                        "y": 2527.353271484375,
                        "z": 364.7369384765625
                    },
                    "rotation": {
                        "roll": 0.0009094345732592046,
                        "pitch": -0.17361657321453094,
                        "yaw": 0.4525425434112549
                    }
                },
                "velocity": {
                    "x": 2.3851988315582275,
                    "y": -0.01193706039339304,
                    "z": -0.005666646640747786
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.0018771933391690254,
                "transform": {
                    "location": {
                        "x": 2187.89501953125,
                        "y": 2553.08740234375,
                        "z": 365.1519775390625
                    },
                    "rotation": {
                        "roll": -0.025726262480020523,
                        "pitch": -1.1173095703125,
                        "yaw": -89.55230712890625
                    }
                },
                "velocity": {
                    "x": -0.00021513615502044559,
                    "y": 0.001341268070973456,
                    "z": -0.0012955968268215656
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.00042656142613850534,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2469.56494140625,
                        "z": 364.860107421875
                    },
                    "rotation": {
                        "roll": -0.0003967258962802589,
                        "pitch": 0.4919853210449219,
                        "yaw": 90.04971313476562
                    }
                },
                "velocity": {
                    "x": 6.952552212169394e-05,
                    "y": -0.00027493631932884455,
                    "z": -0.0003186390968039632
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0009576471638865769,
                "transform": {
                    "location": {
                        "x": 2210.54345703125,
                        "y": 2524.289306640625,
                        "z": 365.7740478515625
                    },
                    "rotation": {
                        "roll": 0.016477804630994797,
                        "pitch": -1.5438207387924194,
                        "yaw": 179.24354553222656
                    }
                },
                "velocity": {
                    "x": -7.723778253421187e-05,
                    "y": -1.715899088594597e-05,
                    "z": 0.0009543730993755162
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.576192617416382,
                "transform": {
                    "location": {
                        "x": 2187.91943359375,
                        "y": 2540.193359375,
                        "z": 365.1637878417969
                    },
                    "rotation": {
                        "roll": -0.0009765602299012244,
                        "pitch": -0.14971773326396942,
                        "yaw": -89.95052337646484
                    }
                },
                "velocity": {
                    "x": 0.0016952052246779203,
                    "y": -2.5761916637420654,
                    "z": 0.0011866855202242732
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.1931862831115723,
                "transform": {
                    "location": {
                        "x": 2222.2734375,
                        "y": 2524.290283203125,
                        "z": 366.1112060546875
                    },
                    "rotation": {
                        "roll": 0.004159979522228241,
                        "pitch": -1.725585699081421,
                        "yaw": 179.7373809814453
                    }
                },
                "velocity": {
                    "x": -2.192136764526367,
                    "y": 0.0010016649030148983,
                    "z": -0.06783527880907059
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0003103045164607465,
                "transform": {
                    "location": {
                        "x": 2185.025390625,
                        "y": 2490.3125,
                        "z": 365.0118713378906
                    },
                    "rotation": {
                        "roll": -0.001190178794786334,
                        "pitch": 0.3182116746902466,
                        "yaw": 90.26890563964844
                    }
                },
                "velocity": {
                    "x": 0.0002950379566755146,
                    "y": 9.592957940185443e-05,
                    "z": 6.245756594580598e-06
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0271168947219849,
                "transform": {
                    "location": {
                        "x": 2185.125244140625,
                        "y": 2456.905029296875,
                        "z": 364.73724365234375
                    },
                    "rotation": {
                        "roll": 0.008545183576643467,
                        "pitch": 0.5928740501403809,
                        "yaw": 90.80538940429688
                    }
                },
                "velocity": {
                    "x": -0.011639416217803955,
                    "y": 1.0269922018051147,
                    "z": 0.010981569066643715
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 3.2606167793273926,
                "transform": {
                    "location": {
                        "x": 2187.851318359375,
                        "y": 2567.956787109375,
                        "z": 365.1314697265625
                    },
                    "rotation": {
                        "roll": 0.002847272204235196,
                        "pitch": 0.40352073311805725,
                        "yaw": -89.54326629638672
                    }
                },
                "velocity": {
                    "x": 0.019895080476999283,
                    "y": -3.2605178356170654,
                    "z": 0.01581505686044693
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.83779239654541,
                "transform": {
                    "location": {
                        "x": 2175.085693359375,
                        "y": 2527.453857421875,
                        "z": 364.9621887207031
                    },
                    "rotation": {
                        "roll": 0.050051651895046234,
                        "pitch": 1.096279501914978,
                        "yaw": 2.828258991241455
                    }
                },
                "velocity": {
                    "x": 2.8314952850341797,
                    "y": 0.18010638654232025,
                    "z": 0.057113416492938995
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002881042310036719,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0021935412660241127,
                        "pitch": 0.2181698977947235,
                        "yaw": -179.79920959472656
                    }
                },
                "velocity": {
                    "x": 9.44100338529097e-06,
                    "y": 1.629029975447338e-05,
                    "z": -0.0002874883357435465
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00015683399396948516,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 2.090502493956592e-05,
                    "y": 4.178169911028817e-05,
                    "z": 0.00014971362543292344
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.223902463912964,
                "transform": {
                    "location": {
                        "x": 2161.288818359375,
                        "y": 2527.353271484375,
                        "z": 364.765625
                    },
                    "rotation": {
                        "roll": -0.0013122557429596782,
                        "pitch": 0.6444351673126221,
                        "yaw": -0.22708125412464142
                    }
                },
                "velocity": {
                    "x": 2.223808765411377,
                    "y": -0.007723940536379814,
                    "z": 0.01890079490840435
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0006276405183598399,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.912109375,
                        "z": 365.0788879394531
                    },
                    "rotation": {
                        "roll": 0.00021711480803787708,
                        "pitch": 0.2935546934604645,
                        "yaw": 90.16842651367188
                    }
                },
                "velocity": {
                    "x": 3.4413122193655e-05,
                    "y": -9.459667126066051e-06,
                    "z": 0.0006266249692998827
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0005058245151303709,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.51361083984375
                    },
                    "rotation": {
                        "roll": 0.040452707558870316,
                        "pitch": -1.4183911085128784,
                        "yaw": 178.2325439453125
                    }
                },
                "velocity": {
                    "x": -5.6556313211331144e-05,
                    "y": 5.47628269487177e-06,
                    "z": 0.0005026229773648083
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.04670947045087814,
                "transform": {
                    "location": {
                        "x": 2185.033203125,
                        "y": 2479.843994140625,
                        "z": 364.9493713378906
                    },
                    "rotation": {
                        "roll": -0.0002441465621814132,
                        "pitch": 0.44465896487236023,
                        "yaw": 90.11970520019531
                    }
                },
                "velocity": {
                    "x": -0.00016279294504784048,
                    "y": 0.04670457914471626,
                    "z": 0.0006561946938745677
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0005719513865187764,
                "transform": {
                    "location": {
                        "x": 2171.169677734375,
                        "y": 2524.475830078125,
                        "z": 364.8962097167969
                    },
                    "rotation": {
                        "roll": 0.006192737724632025,
                        "pitch": -1.1703187227249146,
                        "yaw": 179.87112426757812
                    }
                },
                "velocity": {
                    "x": -0.0004818376910407096,
                    "y": 0.0002735960006248206,
                    "z": -0.00014179579738993198
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04941834509372711,
        "expert_target_speed": 0.0,
        "target_point": [
            27.633629329390523,
            5.000324565824302
        ],
        "target_point_next": [
            27.633629329390523,
            5.000324565824302
        ]
    },
    "555": {
        "acceleration": [
            -0.1487296223640442,
            -0.12663355469703674,
            -0.0046577537432312965
        ],
        "angular_velocity": [
            -0.07315731048583984,
            0.0959467962384224,
            -0.3135496973991394
        ],
        "forward_vector": [
            -0.9805989265441895,
            0.1954900324344635,
            -0.014473766088485718
        ],
        "right_vector": [
            -0.19549457728862762,
            -0.9807041883468628,
            -0.0011141948634758592
        ],
        "location": [
            2176.2470703125,
            2524.035888671875,
            364.9793701171875
        ],
        "rotation": [
            0.06384535878896713,
            -0.8293147087097168,
            168.72544860839844
        ],
        "velocity": [
            -0.01082519069314003,
            -0.009099652990698814,
            -0.0017631767550483346
        ],
        "speed": 0.014141726842715476,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.097095966339111,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.169677734375,
                2524.475830078125,
                364.8961486816406
            ],
            "velocity": [
                -0.0009299700031988323,
                0.00043039536103606224,
                0.0005149288917891681
            ],
            "speed_kmh": 0.004128614820828269,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.5507802963256836,
                "transform": {
                    "location": {
                        "x": 2151.158447265625,
                        "y": 2527.346435546875,
                        "z": 364.7366027832031
                    },
                    "rotation": {
                        "roll": -0.002655028598383069,
                        "pitch": -0.18804876506328583,
                        "yaw": 1.0435255765914917
                    }
                },
                "velocity": {
                    "x": 1.5507748126983643,
                    "y": 0.0039430041797459126,
                    "z": -0.0012376212980598211
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.441338300704956,
                "transform": {
                    "location": {
                        "x": 2187.89599609375,
                        "y": 2552.851806640625,
                        "z": 365.1486511230469
                    },
                    "rotation": {
                        "roll": -0.007629394065588713,
                        "pitch": -0.07366358488798141,
                        "yaw": -89.58844757080078
                    }
                },
                "velocity": {
                    "x": 0.0044961972162127495,
                    "y": -1.441328525543213,
                    "z": 0.002815837739035487
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003097552980761975,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2469.565185546875,
                        "z": 364.860107421875
                    },
                    "rotation": {
                        "roll": -0.00048827085993252695,
                        "pitch": 0.5064516663551331,
                        "yaw": 90.04975891113281
                    }
                },
                "velocity": {
                    "x": 0.0001509712019469589,
                    "y": -8.247375080827624e-05,
                    "z": -0.00025759293930605054
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0017634788528084755,
                "transform": {
                    "location": {
                        "x": 2210.54345703125,
                        "y": 2524.289306640625,
                        "z": 365.7740478515625
                    },
                    "rotation": {
                        "roll": 0.016477804630994797,
                        "pitch": -1.5438207387924194,
                        "yaw": 179.24354553222656
                    }
                },
                "velocity": {
                    "x": -0.00011428564175730571,
                    "y": 1.404730664944509e-05,
                    "z": 0.001759715611115098
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.002233204199001193,
                "transform": {
                    "location": {
                        "x": 2187.91943359375,
                        "y": 2539.88623046875,
                        "z": 365.16351318359375
                    },
                    "rotation": {
                        "roll": -0.000976581359282136,
                        "pitch": -0.40542635321617126,
                        "yaw": -89.95357513427734
                    }
                },
                "velocity": {
                    "x": 5.164067988516763e-05,
                    "y": 0.0018657137406989932,
                    "z": 0.0012262326199561357
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.3913517892360687,
                "transform": {
                    "location": {
                        "x": 2222.035888671875,
                        "y": 2524.29052734375,
                        "z": 366.1035461425781
                    },
                    "rotation": {
                        "roll": 0.009582501836121082,
                        "pitch": -1.9973384141921997,
                        "yaw": 179.6685333251953
                    }
                },
                "velocity": {
                    "x": -0.3911907374858856,
                    "y": -0.0009378736722283065,
                    "z": -0.011187486350536346
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.000575801997911185,
                "transform": {
                    "location": {
                        "x": 2185.025390625,
                        "y": 2490.3125,
                        "z": 365.0115966796875
                    },
                    "rotation": {
                        "roll": 4.356993667897768e-05,
                        "pitch": 0.3477044105529785,
                        "yaw": 90.26895904541016
                    }
                },
                "velocity": {
                    "x": -5.157080522621982e-05,
                    "y": -7.425669173244387e-05,
                    "z": 0.0005686600925400853
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.047344446182251,
                "transform": {
                    "location": {
                        "x": 2185.120849609375,
                        "y": 2457.28955078125,
                        "z": 364.74151611328125
                    },
                    "rotation": {
                        "roll": 0.009825069457292557,
                        "pitch": 0.7323533296585083,
                        "yaw": 90.7625503540039
                    }
                },
                "velocity": {
                    "x": -0.021845728158950806,
                    "y": 2.0471131801605225,
                    "z": 0.02166813798248768
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 4.596003532409668,
                "transform": {
                    "location": {
                        "x": 2187.85791015625,
                        "y": 2566.965576171875,
                        "z": 365.1360778808594
                    },
                    "rotation": {
                        "roll": 0.001351853716187179,
                        "pitch": 0.42166170477867126,
                        "yaw": -89.58709716796875
                    }
                },
                "velocity": {
                    "x": 0.028247922658920288,
                    "y": -4.595880031585693,
                    "z": 0.018307533115148544
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.470000147819519,
                "transform": {
                    "location": {
                        "x": 2135.974853515625,
                        "y": 2527.302490234375,
                        "z": 365.08740234375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.470000147819519
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85976,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.910802125930786,
                "transform": {
                    "location": {
                        "x": 2175.81689453125,
                        "y": 2527.502197265625,
                        "z": 364.97674560546875
                    },
                    "rotation": {
                        "roll": 0.06192697212100029,
                        "pitch": 1.142185091972351,
                        "yaw": 3.2640743255615234
                    }
                },
                "velocity": {
                    "x": 2.903670072555542,
                    "y": 0.19508123397827148,
                    "z": 0.0584133043885231
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.346900484757498e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.002615100471302867,
                        "pitch": 0.2181015908718109,
                        "yaw": -179.79920959472656
                    }
                },
                "velocity": {
                    "x": 1.2883841918664984e-05,
                    "y": 5.950877493887674e-06,
                    "z": 3.0311184673337266e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005996138788759708,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 5.3731723710370716e-06,
                    "y": 2.2786900899518514e-06,
                    "z": 0.0005995854735374451
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.091685771942139,
                "transform": {
                    "location": {
                        "x": 2162.078125,
                        "y": 2527.350830078125,
                        "z": 364.7705078125
                    },
                    "rotation": {
                        "roll": -0.0012207030085846782,
                        "pitch": 0.874605655670166,
                        "yaw": -0.2022704929113388
                    }
                },
                "velocity": {
                    "x": 4.091513156890869,
                    "y": -0.013361131772398949,
                    "z": 0.03511995077133179
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00042097235564142466,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.912109375,
                        "z": 365.0788879394531
                    },
                    "rotation": {
                        "roll": 0.00021711480803787708,
                        "pitch": 0.2935546934604645,
                        "yaw": 90.16842651367188
                    }
                },
                "velocity": {
                    "x": 3.672264938359149e-05,
                    "y": -1.6000158211681992e-05,
                    "z": 0.00041906224214471877
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005514229414984584,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": -8.330851414939389e-06,
                    "y": -1.1534783880051691e-05,
                    "z": 0.0005512393545359373
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0003555564908310771,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.51361083984375
                    },
                    "rotation": {
                        "roll": 0.0403025783598423,
                        "pitch": -1.417967677116394,
                        "yaw": 178.23199462890625
                    }
                },
                "velocity": {
                    "x": -6.550654507009313e-05,
                    "y": 4.042919954372337e-06,
                    "z": 0.0003494466654956341
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7314204573631287,
                "transform": {
                    "location": {
                        "x": 2185.032958984375,
                        "y": 2479.925048828125,
                        "z": 364.9505920410156
                    },
                    "rotation": {
                        "roll": -0.00036623707273975015,
                        "pitch": 0.383897602558136,
                        "yaw": 90.11686706542969
                    }
                },
                "velocity": {
                    "x": -0.0030535790137946606,
                    "y": 0.7313805222511292,
                    "z": 0.007006473373621702
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.001146837486885488,
                "transform": {
                    "location": {
                        "x": 2171.169677734375,
                        "y": 2524.475830078125,
                        "z": 364.8961486816406
                    },
                    "rotation": {
                        "roll": 0.007261622231453657,
                        "pitch": -1.1677231788635254,
                        "yaw": 179.87046813964844
                    }
                },
                "velocity": {
                    "x": -0.0009299700031988323,
                    "y": 0.00043039536103606224,
                    "z": 0.0005149288917891681
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.048160579055547714,
        "expert_target_speed": 0.0,
        "target_point": [
            27.632016038465533,
            5.009255873076545
        ],
        "target_point_next": [
            27.632016038465533,
            5.009255873076545
        ]
    },
    "560": {
        "acceleration": [
            -0.3328092694282532,
            0.06390208005905151,
            -0.004326178692281246
        ],
        "angular_velocity": [
            -0.24902035295963287,
            0.16544197499752045,
            0.08108576387166977
        ],
        "forward_vector": [
            -0.9806019067764282,
            0.19547919929027557,
            -0.01441571768373251
        ],
        "right_vector": [
            -0.19548533856868744,
            -0.9807060956954956,
            -0.0009957475122064352
        ],
        "location": [
            2176.2470703125,
            2524.0361328125,
            364.9792785644531
        ],
        "rotation": [
            0.05705806985497475,
            -0.8259884119033813,
            168.72608947753906
        ],
        "velocity": [
            -0.006866931915283203,
            0.004714373033493757,
            -0.0005020913085900247
        ],
        "speed": 0.008329469792733999,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.097073554992676,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.169677734375,
                2524.475830078125,
                364.8961486816406
            ],
            "velocity": [
                -0.0012298931833356619,
                9.481552115175873e-05,
                0.00043527319212444127
            ],
            "speed_kmh": 0.00470911096759751,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0020023384131491184,
                "transform": {
                    "location": {
                        "x": 2151.527099609375,
                        "y": 2527.3564453125,
                        "z": 364.73626708984375
                    },
                    "rotation": {
                        "roll": -0.004699706099927425,
                        "pitch": -0.2582152783870697,
                        "yaw": 0.16788648068904877
                    }
                },
                "velocity": {
                    "x": 0.0005814069299958646,
                    "y": 0.0010560782393440604,
                    "z": -0.0015987567603588104
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 2.1886885166168213,
                "transform": {
                    "location": {
                        "x": 2187.89794921875,
                        "y": 2552.36767578125,
                        "z": 365.148193359375
                    },
                    "rotation": {
                        "roll": 0.00016414055426139385,
                        "pitch": 0.3206022381782532,
                        "yaw": -89.6513671875
                    }
                },
                "velocity": {
                    "x": 0.005838428158313036,
                    "y": -2.1886773109436035,
                    "z": 0.0038997840601950884
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1717475950717926,
                "transform": {
                    "location": {
                        "x": 2185.0556640625,
                        "y": 2469.580078125,
                        "z": 364.8601989746094
                    },
                    "rotation": {
                        "roll": 0.0014952097553759813,
                        "pitch": 0.5360127091407776,
                        "yaw": 90.0755615234375
                    }
                },
                "velocity": {
                    "x": -0.0006340660620480776,
                    "y": 0.1717366725206375,
                    "z": 0.001829977030865848
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0006048119976185262,
                "transform": {
                    "location": {
                        "x": 2210.54345703125,
                        "y": 2524.289306640625,
                        "z": 365.7740478515625
                    },
                    "rotation": {
                        "roll": 0.016477804630994797,
                        "pitch": -1.5438207387924194,
                        "yaw": 179.24354553222656
                    }
                },
                "velocity": {
                    "x": -9.872615191852674e-05,
                    "y": 5.609542495221831e-05,
                    "z": 0.0005940572591498494
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0021046949550509453,
                "transform": {
                    "location": {
                        "x": 2187.91943359375,
                        "y": 2539.884521484375,
                        "z": 365.1638488769531
                    },
                    "rotation": {
                        "roll": -0.000946043583098799,
                        "pitch": -0.12890614569187164,
                        "yaw": -89.95360565185547
                    }
                },
                "velocity": {
                    "x": -2.5872273909044452e-05,
                    "y": 0.0013446309603750706,
                    "z": 0.0016189622692763805
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.3674049377441406,
                "transform": {
                    "location": {
                        "x": 2221.80712890625,
                        "y": 2524.29052734375,
                        "z": 366.0968933105469
                    },
                    "rotation": {
                        "roll": 0.004651086870580912,
                        "pitch": -1.7025748491287231,
                        "yaw": 179.71983337402344
                    }
                },
                "velocity": {
                    "x": -1.3667489290237427,
                    "y": 0.00021702486264985055,
                    "z": -0.04234999418258667
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0004792659019585699,
                "transform": {
                    "location": {
                        "x": 2185.025390625,
                        "y": 2490.312744140625,
                        "z": 365.0114440917969
                    },
                    "rotation": {
                        "roll": -0.0009155570296570659,
                        "pitch": 0.36164483428001404,
                        "yaw": 90.26895904541016
                    }
                },
                "velocity": {
                    "x": -2.6746491130325012e-05,
                    "y": -1.8880702555179596e-05,
                    "z": 0.0004781463649123907
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.8618041276931763,
                "transform": {
                    "location": {
                        "x": 2185.116455078125,
                        "y": 2457.780029296875,
                        "z": 364.7463073730469
                    },
                    "rotation": {
                        "roll": 0.009581458754837513,
                        "pitch": 0.5307261347770691,
                        "yaw": 90.53675079345703
                    }
                },
                "velocity": {
                    "x": -0.00809087511152029,
                    "y": 0.8617219924926758,
                    "z": 0.008722838945686817
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.211463451385498,
                "transform": {
                    "location": {
                        "x": 2187.865966796875,
                        "y": 2565.690673828125,
                        "z": 365.14263916015625
                    },
                    "rotation": {
                        "roll": 0.003378430148586631,
                        "pitch": 0.34499967098236084,
                        "yaw": -89.63005065917969
                    }
                },
                "velocity": {
                    "x": 0.023181293159723282,
                    "y": -5.2113566398620605,
                    "z": 0.02397540956735611
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.03629661351442337,
                "transform": {
                    "location": {
                        "x": 2135.974365234375,
                        "y": 2527.302490234375,
                        "z": 364.75994873046875
                    },
                    "rotation": {
                        "roll": 0.0005336663452908397,
                        "pitch": -0.22036920487880707,
                        "yaw": -0.1258850246667862
                    }
                },
                "velocity": {
                    "x": -0.00014151548384688795,
                    "y": 0.00017024678527377546,
                    "z": -0.03629593923687935
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85989,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.9800000786781311,
                "transform": {
                    "location": {
                        "x": 2236.935546875,
                        "y": 2524.330322265625,
                        "z": 366.91058349609375
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -1.7185369729995728,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": 9.783414078867736e-09,
                    "y": -2.150729767891324e-11,
                    "z": -0.9800000786781311
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.916669083992019e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.002615100471302867,
                        "pitch": 0.2181015908718109,
                        "yaw": -179.79920959472656
                    }
                },
                "velocity": {
                    "x": 1.1632740097411443e-05,
                    "y": -1.8143073248211294e-05,
                    "z": -3.270379238529131e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0001732485688989982,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.8491968148737215e-05,
                    "y": 1.8813376300386153e-05,
                    "z": 0.0001712284138193354
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.430367946624756,
                "transform": {
                    "location": {
                        "x": 2163.324951171875,
                        "y": 2527.3466796875,
                        "z": 364.78045654296875
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": 0.9981023073196411,
                        "yaw": -0.19281005859375
                    }
                },
                "velocity": {
                    "x": 5.430134296417236,
                    "y": -0.01587263122200966,
                    "z": 0.0477958582341671
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005781581276096404,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.912109375,
                        "z": 365.0788879394531
                    },
                    "rotation": {
                        "roll": 0.00021711480803787708,
                        "pitch": 0.2935546934604645,
                        "yaw": 90.16842651367188
                    }
                },
                "velocity": {
                    "x": -1.4534361980622634e-05,
                    "y": -1.8091574020218104e-05,
                    "z": 0.000577692175284028
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 8.165773760993034e-05,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.827392578125,
                        "z": 365.1201477050781
                    },
                    "rotation": {
                        "roll": -0.00012207025429233909,
                        "pitch": 0.18568551540374756,
                        "yaw": 89.97048950195312
                    }
                },
                "velocity": {
                    "x": -9.153125574812293e-06,
                    "y": -2.3912674805615097e-05,
                    "z": 7.753960380796343e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0008484048885293305,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.51361083984375
                    },
                    "rotation": {
                        "roll": 0.0403025783598423,
                        "pitch": -1.417967677116394,
                        "yaw": 178.23199462890625
                    }
                },
                "velocity": {
                    "x": -6.353333446895704e-05,
                    "y": 2.2711517885909416e-05,
                    "z": 0.0008457177900709212
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00165167439263314,
                "transform": {
                    "location": {
                        "x": 2185.0322265625,
                        "y": 2480.12451171875,
                        "z": 364.9513244628906
                    },
                    "rotation": {
                        "roll": -0.0012206991668790579,
                        "pitch": 0.4812004566192627,
                        "yaw": 89.98905181884766
                    }
                },
                "velocity": {
                    "x": -0.0001319754373980686,
                    "y": 0.0015501145971938968,
                    "z": 0.0005547573091462255
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0013080864446237683,
                "transform": {
                    "location": {
                        "x": 2171.169677734375,
                        "y": 2524.475830078125,
                        "z": 364.8961486816406
                    },
                    "rotation": {
                        "roll": 0.015696249902248383,
                        "pitch": -1.1675729751586914,
                        "yaw": 179.8695526123047
                    }
                },
                "velocity": {
                    "x": -0.0012298931833356619,
                    "y": 9.481552115175873e-05,
                    "z": 0.00043527319212444127
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.047072794288396835,
        "expert_target_speed": 0.0,
        "target_point": [
            27.632023245311192,
            5.009192255076672
        ],
        "target_point_next": [
            27.632023245311192,
            5.009192255076672
        ]
    },
    "565": {
        "acceleration": [
            0.20403215289115906,
            0.03408871218562126,
            -0.007017086260020733
        ],
        "angular_velocity": [
            0.12379071861505508,
            -0.015160017646849155,
            0.1113775372505188
        ],
        "forward_vector": [
            -0.9804695844650269,
            0.19613929092884064,
            -0.014448735862970352
        ],
        "right_vector": [
            -0.1961442232131958,
            -0.9805744290351868,
            -0.0010887316893786192
        ],
        "location": [
            2176.246826171875,
            2524.03515625,
            364.9792785644531
        ],
        "rotation": [
            0.062386251986026764,
            -0.8278803825378418,
            168.68751525878906
        ],
        "velocity": [
            0.00021176337031647563,
            0.0037925057113170624,
            0.0001473827287554741
        ],
        "speed": 0.003798413260215419,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.096913814544678,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.169677734375,
                2524.475830078125,
                364.8962097167969
            ],
            "velocity": [
                -0.0009909498039633036,
                -2.5175249902531505e-05,
                0.0003378528926987201
            ],
            "speed_kmh": 0.0037701469600488324,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.4088536500930786,
                "transform": {
                    "location": {
                        "x": 2151.787353515625,
                        "y": 2527.356201171875,
                        "z": 364.7351989746094
                    },
                    "rotation": {
                        "roll": -0.001190185546875,
                        "pitch": -0.13314087688922882,
                        "yaw": 0.13849805295467377
                    }
                },
                "velocity": {
                    "x": 1.4088082313537598,
                    "y": 0.011117530055344105,
                    "z": -0.0020665740594267845
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 0.3946186900138855,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2552.119384765625,
                        "z": 365.1510925292969
                    },
                    "rotation": {
                        "roll": -0.0011901818215847015,
                        "pitch": -0.34359946846961975,
                        "yaw": -89.84014892578125
                    }
                },
                "velocity": {
                    "x": 0.0006308957817964256,
                    "y": -0.39461734890937805,
                    "z": 0.00079824443673715
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.9495556950569153,
                "transform": {
                    "location": {
                        "x": 2185.05517578125,
                        "y": 2469.7216796875,
                        "z": 364.8616638183594
                    },
                    "rotation": {
                        "roll": 0.0013365240301936865,
                        "pitch": 0.6062611937522888,
                        "yaw": 90.11602020263672
                    }
                },
                "velocity": {
                    "x": -0.0022205293644219637,
                    "y": 0.9495229125022888,
                    "z": 0.007569360546767712
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0015052163507789373,
                "transform": {
                    "location": {
                        "x": 2210.54345703125,
                        "y": 2524.289306640625,
                        "z": 365.7740478515625
                    },
                    "rotation": {
                        "roll": 0.016477804630994797,
                        "pitch": -1.5438207387924194,
                        "yaw": 179.24354553222656
                    }
                },
                "velocity": {
                    "x": -0.00010326653136871755,
                    "y": -4.427027278097739e-08,
                    "z": 0.0015016697579994798
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.001307918457314372,
                "transform": {
                    "location": {
                        "x": 2187.91943359375,
                        "y": 2539.884033203125,
                        "z": 365.1639404296875
                    },
                    "rotation": {
                        "roll": -0.0012817364186048508,
                        "pitch": -0.04714879393577576,
                        "yaw": -89.95360565185547
                    }
                },
                "velocity": {
                    "x": 0.0003141398192383349,
                    "y": 0.00030306752887554467,
                    "z": 0.001232930226251483
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 2.3198671340942383,
                "transform": {
                    "location": {
                        "x": 2221.34375,
                        "y": 2524.291015625,
                        "z": 366.0828857421875
                    },
                    "rotation": {
                        "roll": 0.0014953550416976213,
                        "pitch": -1.624232530593872,
                        "yaw": 179.78829956054688
                    }
                },
                "velocity": {
                    "x": -2.3188278675079346,
                    "y": 0.0022846644278615713,
                    "z": -0.06939280033111572
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0010029069380834699,
                "transform": {
                    "location": {
                        "x": 2185.025390625,
                        "y": 2490.312744140625,
                        "z": 365.0113830566406
                    },
                    "rotation": {
                        "roll": -0.00045773875899612904,
                        "pitch": 0.36682894825935364,
                        "yaw": 90.26896667480469
                    }
                },
                "velocity": {
                    "x": 0.00013129810395184904,
                    "y": -2.1608359020319767e-05,
                    "z": 0.0009940402815118432
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.0144189596176147,
                "transform": {
                    "location": {
                        "x": 2185.114990234375,
                        "y": 2457.922119140625,
                        "z": 364.7479248046875
                    },
                    "rotation": {
                        "roll": 0.009408571757376194,
                        "pitch": 0.5867063999176025,
                        "yaw": 90.58631134033203
                    }
                },
                "velocity": {
                    "x": -0.011220728978514671,
                    "y": 1.0143064260482788,
                    "z": 0.010121926665306091
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 5.65230655670166,
                "transform": {
                    "location": {
                        "x": 2187.87158203125,
                        "y": 2564.319580078125,
                        "z": 365.1490478515625
                    },
                    "rotation": {
                        "roll": 0.0029273205436766148,
                        "pitch": 0.2905562222003937,
                        "yaw": -89.67742156982422
                    }
                },
                "velocity": {
                    "x": 0.018858976662158966,
                    "y": -5.652224063873291,
                    "z": 0.024011841043829918
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5582228899002075,
                "transform": {
                    "location": {
                        "x": 2135.993408203125,
                        "y": 2527.302490234375,
                        "z": 364.7901611328125
                    },
                    "rotation": {
                        "roll": -0.0032958979718387127,
                        "pitch": -0.14956746995449066,
                        "yaw": -0.1221618503332138
                    }
                },
                "velocity": {
                    "x": 0.5494001507759094,
                    "y": 0.0032908718567341566,
                    "z": 0.09880023449659348
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85989,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.5702832341194153,
                "transform": {
                    "location": {
                        "x": 2236.939697265625,
                        "y": 2524.330322265625,
                        "z": 366.5138244628906
                    },
                    "rotation": {
                        "roll": 0.0008001870010048151,
                        "pitch": -1.7520390748977661,
                        "yaw": 179.87405395507812
                    }
                },
                "velocity": {
                    "x": 0.017519278451800346,
                    "y": -5.939167385804467e-05,
                    "z": -0.5700140595436096
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00010265816672472283,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0025309014599770308,
                        "pitch": 0.21797864139080048,
                        "yaw": -179.7991943359375
                    }
                },
                "velocity": {
                    "x": 1.4422721505980007e-05,
                    "y": 2.0781290004379116e-05,
                    "z": -9.949282684829086e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.975373642286286e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 9.887255146168172e-06,
                    "y": 8.404028449149337e-06,
                    "z": 5.8327725128037855e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.079150676727295,
                "transform": {
                    "location": {
                        "x": 2164.42578125,
                        "y": 2527.34326171875,
                        "z": 364.7961120605469
                    },
                    "rotation": {
                        "roll": -0.0008544920710846782,
                        "pitch": 0.34379756450653076,
                        "yaw": -0.17648310959339142
                    }
                },
                "velocity": {
                    "x": 4.078887462615967,
                    "y": -0.010741612873971462,
                    "z": 0.045096635818481445
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00027062295703217387,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.912109375,
                        "z": 365.0788879394531
                    },
                    "rotation": {
                        "roll": 0.00021711480803787708,
                        "pitch": 0.2935546934604645,
                        "yaw": 90.16842651367188
                    }
                },
                "velocity": {
                    "x": 6.0018196563760284e-06,
                    "y": -1.8282904420630075e-05,
                    "z": 0.0002699379692785442
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3768729567527771,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2508.85888671875,
                        "z": 365.1205139160156
                    },
                    "rotation": {
                        "roll": -0.00018310174345970154,
                        "pitch": 0.15270936489105225,
                        "yaw": 89.98102569580078
                    }
                },
                "velocity": {
                    "x": -0.0012276734923943877,
                    "y": 0.37686365842819214,
                    "z": 0.002348527777940035
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0016857918817549944,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.51361083984375
                    },
                    "rotation": {
                        "roll": 0.0403025783598423,
                        "pitch": -1.417967677116394,
                        "yaw": 178.23199462890625
                    }
                },
                "velocity": {
                    "x": -0.00010218113311566412,
                    "y": 2.1928874048171565e-05,
                    "z": 0.0016825493657961488
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0009053015382960439,
                "transform": {
                    "location": {
                        "x": 2185.0322265625,
                        "y": 2480.12451171875,
                        "z": 364.9514465332031
                    },
                    "rotation": {
                        "roll": -3.055011256947182e-05,
                        "pitch": 0.46944570541381836,
                        "yaw": 89.98905181884766
                    }
                },
                "velocity": {
                    "x": -9.7608171927277e-05,
                    "y": -0.00032894351170398295,
                    "z": 0.0008377587073482573
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0010472630383446813,
                "transform": {
                    "location": {
                        "x": 2171.169677734375,
                        "y": 2524.475830078125,
                        "z": 364.8962097167969
                    },
                    "rotation": {
                        "roll": 0.017497289925813675,
                        "pitch": -1.1686657667160034,
                        "yaw": 179.8690185546875
                    }
                },
                "velocity": {
                    "x": -0.0009909498039633036,
                    "y": -2.5175249902531505e-05,
                    "z": 0.0003378528926987201
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.04945916682481766,
        "expert_target_speed": 0.0,
        "target_point": [
            27.628598884378206,
            5.026776940911746
        ],
        "target_point_next": [
            27.628598884378206,
            5.026776940911746
        ]
    },
    "570": {
        "acceleration": [
            -0.6602897644042969,
            -0.14836359024047852,
            -0.016540776938199997
        ],
        "angular_velocity": [
            -0.21130003035068512,
            0.08341613411903381,
            -0.07954145222902298
        ],
        "forward_vector": [
            -0.9804762005805969,
            0.19610585272312164,
            -0.014455528929829597
        ],
        "right_vector": [
            -0.19611306488513947,
            -0.9805808663368225,
            -0.0009316678042523563
        ],
        "location": [
            2176.246826171875,
            2524.03564453125,
            364.979248046875
        ],
        "rotation": [
            0.05338621884584427,
            -0.8282696604728699,
            168.68946838378906
        ],
        "velocity": [
            -0.03138547018170357,
            -2.2692680431646295e-05,
            -0.0004937636549584568
        ],
        "speed": 0.03138547838546274,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": true
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 5.0968708992004395,
        "front_vehicle_info": {
            "id": 85953,
            "type": "vehicle.nissan.patrol_2021",
            "location": [
                2171.169677734375,
                2524.475830078125,
                364.8962097167969
            ],
            "velocity": [
                -0.0004316133272368461,
                0.00025494734290987253,
                0.0009694895124994218
            ],
            "speed_kmh": 0.003929112841685913,
            "color": "0,38,105"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.5751957893371582,
                "transform": {
                    "location": {
                        "x": 2152.16650390625,
                        "y": 2527.353759765625,
                        "z": 364.73468017578125
                    },
                    "rotation": {
                        "roll": -0.0016479491023346782,
                        "pitch": -0.18289196491241455,
                        "yaw": 0.282334566116333
                    }
                },
                "velocity": {
                    "x": 0.5751603841781616,
                    "y": -0.004056965000927448,
                    "z": -0.004929780960083008
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85983,
                "type": "vehicle.lincoln.mkz_2020",
                "speed_kmh": 1.3391387462615967,
                "transform": {
                    "location": {
                        "x": 2187.89990234375,
                        "y": 2551.881103515625,
                        "z": 365.1496276855469
                    },
                    "rotation": {
                        "roll": -0.001007077400572598,
                        "pitch": 0.17628717422485352,
                        "yaw": -89.8910140991211
                    }
                },
                "velocity": {
                    "x": 0.002802796196192503,
                    "y": -1.3391343355178833,
                    "z": 0.0019901751074939966
                },
                "bounding_box_extent": {
                    "x": 2.44619083404541,
                    "y": 0.9183566570281982,
                    "z": 0.7451388239860535
                }
            },
            {
                "id": 85982,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0003708084113895893,
                "transform": {
                    "location": {
                        "x": 2185.055419921875,
                        "y": 2469.885986328125,
                        "z": 364.86279296875
                    },
                    "rotation": {
                        "roll": 0.0008662002510391176,
                        "pitch": 0.39195722341537476,
                        "yaw": 89.9619369506836
                    }
                },
                "velocity": {
                    "x": 5.8776509831659496e-05,
                    "y": 2.5687962988740765e-05,
                    "z": -0.0003652182058431208
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85981,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0005928635946474969,
                "transform": {
                    "location": {
                        "x": 2210.54345703125,
                        "y": 2524.289306640625,
                        "z": 365.7740478515625
                    },
                    "rotation": {
                        "roll": 0.016477804630994797,
                        "pitch": -1.5438207387924194,
                        "yaw": 179.24354553222656
                    }
                },
                "velocity": {
                    "x": -9.451031655771658e-05,
                    "y": 4.948938294546679e-05,
                    "z": 0.0005831859307363629
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85979,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.0,
                "transform": {
                    "location": {
                        "x": 2187.91943359375,
                        "y": 2539.8837890625,
                        "z": 365.1639709472656
                    },
                    "rotation": {
                        "roll": 0.00039398661465384066,
                        "pitch": -0.04126117005944252,
                        "yaw": -89.95360565185547
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": 0.0
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85984,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 0.1959560066461563,
                "transform": {
                    "location": {
                        "x": 2220.880615234375,
                        "y": 2524.291259765625,
                        "z": 366.06878662109375
                    },
                    "rotation": {
                        "roll": 0.0024412183556705713,
                        "pitch": -1.9525392055511475,
                        "yaw": 179.84205627441406
                    }
                },
                "velocity": {
                    "x": -0.1958560347557068,
                    "y": 8.660259481985122e-05,
                    "z": -0.006258201319724321
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85970,
                "type": "vehicle.chevrolet.impala",
                "speed_kmh": 0.0009429786587134004,
                "transform": {
                    "location": {
                        "x": 2185.025390625,
                        "y": 2490.312744140625,
                        "z": 365.0113830566406
                    },
                    "rotation": {
                        "roll": -0.00045773875899612904,
                        "pitch": 0.36682894825935364,
                        "yaw": 90.26896667480469
                    }
                },
                "velocity": {
                    "x": 1.3112057786202058e-05,
                    "y": -1.482013612985611e-05,
                    "z": 0.000942771031986922
                },
                "bounding_box_extent": {
                    "x": 2.6787397861480713,
                    "y": 1.0166014432907104,
                    "z": 0.7053293585777283
                }
            },
            {
                "id": 85987,
                "type": "vehicle.mercedes.coupe_2020",
                "speed_kmh": 1.9312260150909424,
                "transform": {
                    "location": {
                        "x": 2185.111083984375,
                        "y": 2458.303955078125,
                        "z": 364.7519836425781
                    },
                    "rotation": {
                        "roll": 0.006945382803678513,
                        "pitch": 0.7021434307098389,
                        "yaw": 90.60081481933594
                    }
                },
                "velocity": {
                    "x": -0.01800801232457161,
                    "y": 1.9310452938079834,
                    "z": 0.019333314150571823
                },
                "bounding_box_extent": {
                    "x": 2.3368194103240967,
                    "y": 0.9059062600135803,
                    "z": 0.7209736704826355
                }
            },
            {
                "id": 85986,
                "type": "vehicle.lincoln.mkz_2017",
                "speed_kmh": 1.0805981159210205,
                "transform": {
                    "location": {
                        "x": 2187.875,
                        "y": 2563.509033203125,
                        "z": 365.1554870605469
                    },
                    "rotation": {
                        "roll": 1.7108848624047823e-05,
                        "pitch": -0.09939973801374435,
                        "yaw": -89.70623779296875
                    }
                },
                "velocity": {
                    "x": 0.00401891628280282,
                    "y": -1.0805774927139282,
                    "z": 0.0053416346199810505
                },
                "bounding_box_extent": {
                    "x": 2.4508416652679443,
                    "y": 1.0641621351242065,
                    "z": 0.7553732395172119
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.0635573863983154,
                "transform": {
                    "location": {
                        "x": 2136.345458984375,
                        "y": 2527.3056640625,
                        "z": 364.8014831542969
                    },
                    "rotation": {
                        "roll": -0.01019287109375,
                        "pitch": 0.03932822868227959,
                        "yaw": 0.04376806691288948
                    }
                },
                "velocity": {
                    "x": 2.063436269760132,
                    "y": 0.01896611973643303,
                    "z": 0.011860208585858345
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85989,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.2220347374677658,
                "transform": {
                    "location": {
                        "x": 2236.93896484375,
                        "y": 2524.330322265625,
                        "z": 366.5368347167969
                    },
                    "rotation": {
                        "roll": 0.0005613027606159449,
                        "pitch": -1.747859001159668,
                        "yaw": 179.8739471435547
                    }
                },
                "velocity": {
                    "x": -0.006881684064865112,
                    "y": 5.020794924348593e-05,
                    "z": 0.22192806005477905
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002711507841013372,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0025309014599770308,
                        "pitch": 0.21797864139080048,
                        "yaw": -179.7991943359375
                    }
                },
                "velocity": {
                    "x": 1.0077207662106957e-05,
                    "y": 8.505887308274396e-06,
                    "z": -0.0002708299143705517
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00031091395067051053,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.3118535207468085e-05,
                    "y": 1.8547015088188346e-06,
                    "z": 0.0003106315270997584
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.384953498840332,
                "transform": {
                    "location": {
                        "x": 2165.59912109375,
                        "y": 2527.3427734375,
                        "z": 364.8070373535156
                    },
                    "rotation": {
                        "roll": -0.008697509765625,
                        "pitch": 0.7003470659255981,
                        "yaw": -0.4878234565258026
                    }
                },
                "velocity": {
                    "x": 4.384600639343262,
                    "y": -0.010410960763692856,
                    "z": 0.05465676262974739
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            },
            {
                "id": 85961,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0004037486214656383,
                "transform": {
                    "location": {
                        "x": 2185.013916015625,
                        "y": 2499.912109375,
                        "z": 365.0788879394531
                    },
                    "rotation": {
                        "roll": 0.00021711480803787708,
                        "pitch": 0.2935546934604645,
                        "yaw": 90.16842651367188
                    }
                },
                "velocity": {
                    "x": -4.938347774441354e-05,
                    "y": -1.6113146557472646e-05,
                    "z": 0.00040039303712546825
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85960,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.198992133140564,
                "transform": {
                    "location": {
                        "x": 2185.00390625,
                        "y": 2509.06396484375,
                        "z": 365.12164306640625
                    },
                    "rotation": {
                        "roll": -0.00015259228530339897,
                        "pitch": 0.10467947274446487,
                        "yaw": 89.9759521484375
                    }
                },
                "velocity": {
                    "x": -0.0023136402014642954,
                    "y": 1.1989877223968506,
                    "z": 0.0023212051019072533
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85977,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.868846372119151e-05,
                "transform": {
                    "location": {
                        "x": 2200.876708984375,
                        "y": 2524.326171875,
                        "z": 365.513671875
                    },
                    "rotation": {
                        "roll": 0.0398203507065773,
                        "pitch": -1.417441725730896,
                        "yaw": 178.23179626464844
                    }
                },
                "velocity": {
                    "x": -4.806324795936234e-05,
                    "y": -2.5434721919737058e-06,
                    "z": -7.3499136306054424e-06
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85978,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0005707258824259043,
                "transform": {
                    "location": {
                        "x": 2185.0322265625,
                        "y": 2480.12451171875,
                        "z": 364.9516296386719
                    },
                    "rotation": {
                        "roll": -0.0014343159273266792,
                        "pitch": 0.44308117032051086,
                        "yaw": 89.98905944824219
                    }
                },
                "velocity": {
                    "x": -0.00011825791443698108,
                    "y": -6.774298526579514e-05,
                    "z": 0.000554214755538851
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85953,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 0.0010914203012362123,
                "transform": {
                    "location": {
                        "x": 2171.169677734375,
                        "y": 2524.475830078125,
                        "z": 364.8962097167969
                    },
                    "rotation": {
                        "roll": 0.01600949652493,
                        "pitch": -1.1708650588989258,
                        "yaw": 179.86810302734375
                    }
                },
                "velocity": {
                    "x": -0.0004316133272368461,
                    "y": 0.00025494734290987253,
                    "z": 0.0009694895124994218
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 0.0,
        "expert_control_brake": 1.0,
        "expert_control_steer": 0.048871275037527084,
        "expert_target_speed": 0.0,
        "target_point": [
            27.628673287772777,
            5.0263203579309135
        ],
        "target_point_next": [
            27.628673287772777,
            5.0263203579309135
        ]
    },
    "575": {
        "acceleration": [
            -2.7483737468719482,
            0.2896970510482788,
            -0.06561528891324997
        ],
        "angular_velocity": [
            0.06391657888889313,
            -0.03432893007993698,
            2.7477054595947266
        ],
        "forward_vector": [
            -0.9819143414497375,
            0.18880686163902283,
            -0.014007109217345715
        ],
        "right_vector": [
            -0.18880555033683777,
            -0.9820134043693542,
            -0.0014278397429734468
        ],
        "location": [
            2176.119873046875,
            2524.05029296875,
            364.9775695800781
        ],
        "rotation": [
            0.08181723952293396,
            -0.8025745153427124,
            169.11575317382812
        ],
        "velocity": [
            -0.8460854887962341,
            0.08470959216356277,
            -0.012584839016199112
        ],
        "speed": 0.8503154528503404,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 37.25517272949219,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.86767578125,
                2524.4853515625,
                364.7972717285156
            ],
            "velocity": [
                -7.90245792359201e-07,
                -3.326037767692469e-05,
                -4.227259705658071e-05
            ],
            "speed_kmh": 0.00019366024829317797,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.5229177474975586,
                "transform": {
                    "location": {
                        "x": 2152.62060546875,
                        "y": 2527.354248046875,
                        "z": 364.73291015625
                    },
                    "rotation": {
                        "roll": -0.0014953610952943563,
                        "pitch": -0.03930773586034775,
                        "yaw": 0.21886761486530304
                    }
                },
                "velocity": {
                    "x": 2.5229153633117676,
                    "y": 0.0013331555528566241,
                    "z": -0.00317943561822176
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 3.6354026794433594,
                "transform": {
                    "location": {
                        "x": 2137.05517578125,
                        "y": 2527.312744140625,
                        "z": 364.8009338378906
                    },
                    "rotation": {
                        "roll": -0.010437010787427425,
                        "pitch": 0.09465275704860687,
                        "yaw": 0.253711074590683
                    }
                },
                "velocity": {
                    "x": 3.6351921558380127,
                    "y": 0.037704918533563614,
                    "z": -0.010484599508345127
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.379451249609701e-05,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0025309014599770308,
                        "pitch": 0.21797864139080048,
                        "yaw": -179.7991943359375
                    }
                },
                "velocity": {
                    "x": -7.90245792359201e-07,
                    "y": -3.326037767692469e-05,
                    "z": -4.227259705658071e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 6.080556340748444e-05,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": 1.5238150808727369e-05,
                    "y": 9.536515790387057e-06,
                    "z": -5.808760761283338e-05
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.4357829093933105,
                "transform": {
                    "location": {
                        "x": 2166.640380859375,
                        "y": 2527.34521484375,
                        "z": 364.8221130371094
                    },
                    "rotation": {
                        "roll": -0.017303466796875,
                        "pitch": 0.7142055034637451,
                        "yaw": -1.2869261503219604
                    }
                },
                "velocity": {
                    "x": 4.435162544250488,
                    "y": -0.026980403810739517,
                    "z": 0.06908386200666428
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.039515577256679535,
        "expert_target_speed": 2.0275828230049866,
        "target_point": [
            27.537869203734104,
            4.811036349285146
        ],
        "target_point_next": [
            27.537869203734104,
            4.811036349285146
        ]
    },
    "580": {
        "acceleration": [
            -3.181791305541992,
            0.12510031461715698,
            -0.06385602056980133
        ],
        "angular_velocity": [
            -0.06478284299373627,
            -0.015454662963747978,
            3.742902994155884
        ],
        "forward_vector": [
            -0.9848455190658569,
            0.17282706499099731,
            -0.014497129246592522
        ],
        "right_vector": [
            -0.1728232204914093,
            -0.9849516153335571,
            -0.0015262941597029567
        ],
        "location": [
            2175.821533203125,
            2524.08154296875,
            364.972412109375
        ],
        "rotation": [
            0.08745943754911423,
            -0.8306534290313721,
            170.0467071533203
        ],
        "velocity": [
            -1.5093367099761963,
            0.12983165681362152,
            -0.028491143137216568
        ],
        "speed": 1.514910414246578,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.956478118896484,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.86767578125,
                2524.4853515625,
                364.7972717285156
            ],
            "velocity": [
                4.720538527180906e-06,
                8.36858271213714e-06,
                -0.0002461190160829574
            ],
            "speed_kmh": 0.0008867033619692575,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.709379196166992,
                "transform": {
                    "location": {
                        "x": 2153.38330078125,
                        "y": 2527.354736328125,
                        "z": 364.73095703125
                    },
                    "rotation": {
                        "roll": 0.00034518103348091245,
                        "pitch": 0.04062596336007118,
                        "yaw": 0.09047619253396988
                    }
                },
                "velocity": {
                    "x": 3.709371328353882,
                    "y": -0.003358883084729314,
                    "z": -0.006842365022748709
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 4.40719747543335,
                "transform": {
                    "location": {
                        "x": 2138.123291015625,
                        "y": 2527.322509765625,
                        "z": 364.79718017578125
                    },
                    "rotation": {
                        "roll": 0.006005378440022469,
                        "pitch": -0.004733320791274309,
                        "yaw": 0.38379883766174316
                    }
                },
                "velocity": {
                    "x": 4.407083034515381,
                    "y": 0.027204480022192,
                    "z": -0.016476573422551155
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.9600002765655518,
                "transform": {
                    "location": {
                        "x": 2148.1748046875,
                        "y": 2527.275634765625,
                        "z": 364.9527893066406
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.2181084156036377,
                        "yaw": -0.125946044921875
                    }
                },
                "velocity": {
                    "x": 0.0,
                    "y": 0.0,
                    "z": -1.9600002765655518
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.0002463064738549292,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0025309014599770308,
                        "pitch": 0.21797864139080048,
                        "yaw": -179.7991943359375
                    }
                },
                "velocity": {
                    "x": 4.720538527180906e-06,
                    "y": 8.36858271213714e-06,
                    "z": -0.0002461190160829574
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00040194118628278375,
                "transform": {
                    "location": {
                        "x": 2129.316162109375,
                        "y": 2524.54638671875,
                        "z": 364.8335876464844
                    },
                    "rotation": {
                        "roll": 0.0028534051962196827,
                        "pitch": 0.22031456232070923,
                        "yaw": -179.7247314453125
                    }
                },
                "velocity": {
                    "x": -2.2821127743100078e-07,
                    "y": -1.4608505807700567e-05,
                    "z": 0.00040167555562220514
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.432377338409424,
                "transform": {
                    "location": {
                        "x": 2167.792724609375,
                        "y": 2527.334716796875,
                        "z": 364.837890625
                    },
                    "rotation": {
                        "roll": -0.012817379087209702,
                        "pitch": 0.9483375549316406,
                        "yaw": -0.8304137587547302
                    }
                },
                "velocity": {
                    "x": 4.43182373046875,
                    "y": -0.021845582872629166,
                    "z": 0.06656885147094727
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.03118429146707058,
        "expert_target_speed": 2.68731408655397,
        "target_point": [
            27.313148558224718,
            4.3422057078331875
        ],
        "target_point_next": [
            27.313148558224718,
            4.3422057078331875
        ]
    },
    "585": {
        "acceleration": [
            -1.4095234870910645,
            0.013100653886795044,
            -0.032207146286964417
        ],
        "angular_velocity": [
            -0.07210315763950348,
            -0.3665109872817993,
            5.981564998626709
        ],
        "forward_vector": [
            -0.9887286424636841,
            0.14887842535972595,
            -0.015835575759410858
        ],
        "right_vector": [
            -0.1488792449235916,
            -0.988854706287384,
            -0.001133220735937357
        ],
        "location": [
            2175.388916015625,
            2524.119140625,
            364.9642028808594
        ],
        "rotation": [
            0.06493692100048065,
            -0.9073495864868164,
            171.43698120117188
        ],
        "velocity": [
            -1.903490662574768,
            0.12273617833852768,
            -0.03754936903715134
        ],
        "speed": 1.9074435435898165,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 36.52345657348633,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.86767578125,
                2524.4853515625,
                364.7972717285156
            ],
            "velocity": [
                1.5347563021350652e-05,
                5.4321949392033275e-06,
                0.00016854406567290425
            ],
            "speed_kmh": 0.0006095827870265934,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.27763032913208,
                "transform": {
                    "location": {
                        "x": 2154.509033203125,
                        "y": 2527.354248046875,
                        "z": 364.7298278808594
                    },
                    "rotation": {
                        "roll": -6.103515261202119e-05,
                        "pitch": 0.05772192403674126,
                        "yaw": -0.0026245114859193563
                    }
                },
                "velocity": {
                    "x": 5.277626991271973,
                    "y": -0.005127293523401022,
                    "z": -0.003420867957174778
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.9867372512817383,
                "transform": {
                    "location": {
                        "x": 2139.03955078125,
                        "y": 2527.327880859375,
                        "z": 364.7935791015625
                    },
                    "rotation": {
                        "roll": 0.0009356260416097939,
                        "pitch": -0.387237548828125,
                        "yaw": 0.36373773217201233
                    }
                },
                "velocity": {
                    "x": 2.986663341522217,
                    "y": 0.017351223155856133,
                    "z": -0.011824808083474636
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.12618309259414673,
                "transform": {
                    "location": {
                        "x": 2148.17431640625,
                        "y": 2527.275634765625,
                        "z": 364.68798828125
                    },
                    "rotation": {
                        "roll": 0.00119088648352772,
                        "pitch": -0.21788984537124634,
                        "yaw": -0.1260070651769638
                    }
                },
                "velocity": {
                    "x": 0.0004905784735456109,
                    "y": -3.4626154956640676e-05,
                    "z": 0.12618213891983032
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00016932854487095028,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0025309014599770308,
                        "pitch": 0.21797864139080048,
                        "yaw": -179.7991943359375
                    }
                },
                "velocity": {
                    "x": 1.5347563021350652e-05,
                    "y": 5.4321949392033275e-06,
                    "z": 0.00016854406567290425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.3572464883327484,
                "transform": {
                    "location": {
                        "x": 2129.286865234375,
                        "y": 2524.54638671875,
                        "z": 364.83392333984375
                    },
                    "rotation": {
                        "roll": 0.003404326271265745,
                        "pitch": 0.1898655891418457,
                        "yaw": -179.70399475097656
                    }
                },
                "velocity": {
                    "x": -0.35719701647758484,
                    "y": -0.005491084884852171,
                    "z": 0.0022821330931037664
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.046940803527832,
                "transform": {
                    "location": {
                        "x": 2168.842041015625,
                        "y": 2527.32861328125,
                        "z": 364.8537902832031
                    },
                    "rotation": {
                        "roll": -0.01052856259047985,
                        "pitch": 0.8959431648254395,
                        "yaw": -0.5483703017234802
                    }
                },
                "velocity": {
                    "x": 4.046450138092041,
                    "y": -0.012973468750715256,
                    "z": 0.0616762712597847
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": 0.0021732463501393795,
        "expert_target_speed": 3.075017366961663,
        "target_point": [
            26.977069570069254,
            3.6509943819443524
        ],
        "target_point_next": [
            26.977069570069254,
            3.6509943819443524
        ]
    },
    "590": {
        "acceleration": [
            -2.97213077545166,
            -0.28136029839515686,
            -0.06255395710468292
        ],
        "angular_velocity": [
            -0.43801644444465637,
            0.2974538803100586,
            8.0641508102417
        ],
        "forward_vector": [
            -0.9928170442581177,
            0.11858951300382614,
            -0.01584201119840145
        ],
        "right_vector": [
            -0.11860470473766327,
            -0.9929415583610535,
            1.9705037630046718e-05
        ],
        "location": [
            2174.84130859375,
            2524.15185546875,
            364.9533996582031
        ],
        "rotation": [
            -0.001129157142713666,
            -0.9077184200286865,
            173.1884307861328
        ],
        "velocity": [
            -2.5125911235809326,
            0.08658420294523239,
            -0.05004728585481644
        ],
        "speed": 2.51408253215708,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.97551727294922,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.86767578125,
                2524.4853515625,
                364.7972717285156
            ],
            "velocity": [
                1.3873129319108557e-05,
                1.417353269062005e-05,
                0.00027484746533446014
            ],
            "speed_kmh": 0.000992023631790448,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.869913101196289,
                "transform": {
                    "location": {
                        "x": 2155.93994140625,
                        "y": 2527.353271484375,
                        "z": 364.7286682128906
                    },
                    "rotation": {
                        "roll": 0.0005923713906668127,
                        "pitch": 0.0767371729016304,
                        "yaw": -0.0477600134909153
                    }
                },
                "velocity": {
                    "x": 6.869906902313232,
                    "y": -0.009292270056903362,
                    "z": 0.0006912326789461076
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.004228183533996344,
                "transform": {
                    "location": {
                        "x": 2139.486572265625,
                        "y": 2527.33056640625,
                        "z": 364.7917785644531
                    },
                    "rotation": {
                        "roll": -0.0011596678523346782,
                        "pitch": -0.774686872959137,
                        "yaw": 0.34236782789230347
                    }
                },
                "velocity": {
                    "x": 0.004180815536528826,
                    "y": -0.0005576661205850542,
                    "z": -0.0002955112140625715
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.13646921515464783,
                "transform": {
                    "location": {
                        "x": 2148.17431640625,
                        "y": 2527.275634765625,
                        "z": 364.7403564453125
                    },
                    "rotation": {
                        "roll": 0.0015787440352141857,
                        "pitch": -0.21791717410087585,
                        "yaw": -0.1260070651769638
                    }
                },
                "velocity": {
                    "x": 0.0005296191666275263,
                    "y": -2.606876842037309e-05,
                    "z": 0.13646818697452545
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00027556210989132524,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.0025309014599770308,
                        "pitch": 0.21797864139080048,
                        "yaw": -179.7991943359375
                    }
                },
                "velocity": {
                    "x": 1.3873129319108557e-05,
                    "y": 1.417353269062005e-05,
                    "z": 0.00027484746533446014
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.142006278038025,
                "transform": {
                    "location": {
                        "x": 2129.0830078125,
                        "y": 2524.5439453125,
                        "z": 364.83514404296875
                    },
                    "rotation": {
                        "roll": 0.0030316696502268314,
                        "pitch": 0.14508004486560822,
                        "yaw": -179.7126922607422
                    }
                },
                "velocity": {
                    "x": -1.1419477462768555,
                    "y": -0.011289767920970917,
                    "z": 0.0024778079241514206
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.9663846492767334,
                "transform": {
                    "location": {
                        "x": 2169.843994140625,
                        "y": 2527.32421875,
                        "z": 364.8699951171875
                    },
                    "rotation": {
                        "roll": -0.006500243674963713,
                        "pitch": 0.9518551230430603,
                        "yaw": -0.3761901557445526
                    }
                },
                "velocity": {
                    "x": 3.9657812118530273,
                    "y": -0.009518361650407314,
                    "z": 0.06852134317159653
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.0338016040623188,
        "expert_target_speed": 3.6708996344419744,
        "target_point": [
            26.5284310801288,
            2.7923141650970784
        ],
        "target_point_next": [
            26.5284310801288,
            2.7923141650970784
        ]
    },
    "595": {
        "acceleration": [
            -3.3859634399414062,
            -0.45807623863220215,
            -0.06488829851150513
        ],
        "angular_velocity": [
            -0.4638879597187042,
            0.29843220114707947,
            10.305174827575684
        ],
        "forward_vector": [
            -0.9967930912971497,
            0.07867427915334702,
            -0.014629318378865719
        ],
        "right_vector": [
            -0.078711599111557,
            -0.9968954920768738,
            0.0019923618528991938
        ],
        "location": [
            2174.109619140625,
            2524.17138671875,
            364.9385986328125
        ],
        "rotation": [
            -0.11416622996330261,
            -0.8382281064987183,
            175.48715209960938
        ],
        "velocity": [
            -3.329667568206787,
            -0.003617399837821722,
            -0.06574499607086182
        ],
        "speed": 3.3296695332044117,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 35.24362564086914,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.86767578125,
                2524.4853515625,
                364.7972717285156
            ],
            "velocity": [
                9.211301403411198e-06,
                6.555756499437848e-06,
                0.00018625380471348763
            ],
            "speed_kmh": 0.0006717479013740826,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 6.316616535186768,
                "transform": {
                    "location": {
                        "x": 2157.63037109375,
                        "y": 2527.3515625,
                        "z": 364.7332458496094
                    },
                    "rotation": {
                        "roll": -0.0012207032414153218,
                        "pitch": 0.18762528896331787,
                        "yaw": -0.0696105808019638
                    }
                },
                "velocity": {
                    "x": 6.316567420959473,
                    "y": -0.007951708510518074,
                    "z": 0.02354208007454872
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.003754151752218604,
                "transform": {
                    "location": {
                        "x": 2139.48828125,
                        "y": 2527.330810546875,
                        "z": 364.7918395996094
                    },
                    "rotation": {
                        "roll": -0.0025634763296693563,
                        "pitch": -0.41147106885910034,
                        "yaw": 0.34226736426353455
                    }
                },
                "velocity": {
                    "x": -0.003720641601830721,
                    "y": 0.00019365215848665684,
                    "z": 0.0004614977806340903
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.008250733837485313,
                "transform": {
                    "location": {
                        "x": 2148.17431640625,
                        "y": 2527.275634765625,
                        "z": 364.7537536621094
                    },
                    "rotation": {
                        "roll": 0.0011385736288502812,
                        "pitch": -0.21782837808132172,
                        "yaw": -0.1260070651769638
                    }
                },
                "velocity": {
                    "x": 4.036322206957266e-05,
                    "y": -2.8049897082382813e-05,
                    "z": 0.008250587619841099
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.00018659664783626795,
                "transform": {
                    "location": {
                        "x": 2138.86767578125,
                        "y": 2524.4853515625,
                        "z": 364.7972717285156
                    },
                    "rotation": {
                        "roll": 0.002347907517105341,
                        "pitch": 0.21781471371650696,
                        "yaw": -179.7991180419922
                    }
                },
                "velocity": {
                    "x": 9.211301403411198e-06,
                    "y": 6.555756499437848e-06,
                    "z": 0.00018625380471348763
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.9488937854766846,
                "transform": {
                    "location": {
                        "x": 2128.700927734375,
                        "y": 2524.54052734375,
                        "z": 364.8365478515625
                    },
                    "rotation": {
                        "roll": 0.0033962558954954147,
                        "pitch": 0.14040818810462952,
                        "yaw": -179.65692138671875
                    }
                },
                "velocity": {
                    "x": -1.9487872123718262,
                    "y": -0.019233565777540207,
                    "z": 0.006709413602948189
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.7298314571380615,
                "transform": {
                    "location": {
                        "x": 2170.805908203125,
                        "y": 2527.3212890625,
                        "z": 364.8870544433594
                    },
                    "rotation": {
                        "roll": -0.0037536618765443563,
                        "pitch": 0.9468827247619629,
                        "yaw": -0.2673339247703552
                    }
                },
                "velocity": {
                    "x": 3.729189872741699,
                    "y": -0.007011846173554659,
                    "z": 0.06881057471036911
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.12406408786773682,
        "expert_target_speed": 4.462501431573978,
        "target_point": [
            25.88812369834675,
            1.6879282315849506
        ],
        "target_point_next": [
            25.88812369834675,
            1.6879282315849506
        ]
    },
    "600": {
        "acceleration": [
            -3.2452869415283203,
            -0.7065972685813904,
            0.0011008977890014648
        ],
        "angular_velocity": [
            -0.34968677163124084,
            0.30682769417762756,
            11.962665557861328
        ],
        "forward_vector": [
            -0.9994998574256897,
            0.028568338602781296,
            -0.013560355640947819
        ],
        "right_vector": [
            -0.028630537912249565,
            -0.9995802640914917,
            0.0044150990433990955
        ],
        "location": [
            2173.1640625,
            2524.157470703125,
            364.9200744628906
        ],
        "rotation": [
            -0.25299063324928284,
            -0.7769749760627747,
            178.36277770996094
        ],
        "velocity": [
            -4.184404373168945,
            -0.18438856303691864,
            -0.07615993171930313
        ],
        "speed": 4.188465005270333,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 34.30158996582031,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.8642578125,
                2524.4853515625,
                364.79730224609375
            ],
            "velocity": [
                -0.06060430780053139,
                -0.00043950529652647674,
                0.00031463621417060494
            ],
            "speed_kmh": 0.21818418533765235,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.440515518188477,
                "transform": {
                    "location": {
                        "x": 2159.07177734375,
                        "y": 2527.349609375,
                        "z": 364.7388610839844
                    },
                    "rotation": {
                        "roll": 5.232708281255327e-05,
                        "pitch": 0.2201848030090332,
                        "yaw": -0.0848998874425888
                    }
                },
                "velocity": {
                    "x": 4.440450668334961,
                    "y": -0.0070031993091106415,
                    "z": 0.022959984838962555
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0012337994994595647,
                "transform": {
                    "location": {
                        "x": 2139.48974609375,
                        "y": 2527.330810546875,
                        "z": 364.7918701171875
                    },
                    "rotation": {
                        "roll": -0.0021667478140443563,
                        "pitch": -0.26120007038116455,
                        "yaw": 0.34224674105644226
                    }
                },
                "velocity": {
                    "x": -0.0008082218118943274,
                    "y": 7.833587733330205e-05,
                    "z": 0.0009289252338930964
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.0022990074940025806,
                "transform": {
                    "location": {
                        "x": 2148.17431640625,
                        "y": 2527.275634765625,
                        "z": 364.7535095214844
                    },
                    "rotation": {
                        "roll": -6.103517080191523e-05,
                        "pitch": -0.21728196740150452,
                        "yaw": -0.1260070651769638
                    }
                },
                "velocity": {
                    "x": -4.932657020617626e-07,
                    "y": 6.0047791521355975e-06,
                    "z": -0.0022989995777606964
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.06060671806335449,
                "transform": {
                    "location": {
                        "x": 2138.8642578125,
                        "y": 2524.4853515625,
                        "z": 364.79730224609375
                    },
                    "rotation": {
                        "roll": 0.0033059814013540745,
                        "pitch": 0.21153095364570618,
                        "yaw": -179.79959106445312
                    }
                },
                "velocity": {
                    "x": -0.06060430780053139,
                    "y": -0.00043950529652647674,
                    "z": 0.00031463621417060494
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7816338539123535,
                "transform": {
                    "location": {
                        "x": 2128.109130859375,
                        "y": 2524.53515625,
                        "z": 364.8388977050781
                    },
                    "rotation": {
                        "roll": 0.003878571791574359,
                        "pitch": 0.1315494328737259,
                        "yaw": -179.6010284423828
                    }
                },
                "velocity": {
                    "x": -2.7814769744873047,
                    "y": -0.02759607322514057,
                    "z": 0.010529336519539356
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.5756115913391113,
                "transform": {
                    "location": {
                        "x": 2171.716552734375,
                        "y": 2527.319091796875,
                        "z": 364.90380859375
                    },
                    "rotation": {
                        "roll": -0.0032958984375,
                        "pitch": 0.9973578453063965,
                        "yaw": -0.1971130520105362
                    }
                },
                "velocity": {
                    "x": 3.574957847595215,
                    "y": -0.005349964834749699,
                    "z": 0.06815706193447113
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.2571641206741333,
        "expert_target_speed": 5.278491882368068,
        "target_point": [
            24.995432287683244,
            0.34611088630160247
        ],
        "target_point_next": [
            24.995432287683244,
            0.34611088630160247
        ]
    },
    "605": {
        "acceleration": [
            1.909017562866211,
            0.2405276894569397,
            0.014426261186599731
        ],
        "angular_velocity": [
            0.5814081430435181,
            -1.1051051616668701,
            6.490302085876465
        ],
        "forward_vector": [
            -0.9998124241828918,
            -0.012735486030578613,
            -0.014590936712920666
        ],
        "right_vector": [
            0.01269005797803402,
            -0.9999143481254578,
            0.003201837884262204
        ],
        "location": [
            2172.058837890625,
            2524.11181640625,
            364.900390625
        ],
        "rotation": [
            -0.1834716498851776,
            -0.8360287547111511,
            -179.2702178955078
        ],
        "velocity": [
            -4.389172554016113,
            -0.22574469447135925,
            -0.07899890840053558
        ],
        "speed": 4.394973990367895,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 33.28008270263672,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.781005859375,
                2524.485107421875,
                364.7981262207031
            ],
            "velocity": [
                -0.7373512387275696,
                -0.0024344471748918295,
                0.002522268332540989
            ],
            "speed_kmh": 2.654494457255988,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.631577968597412,
                "transform": {
                    "location": {
                        "x": 2159.599853515625,
                        "y": 2527.349365234375,
                        "z": 364.7424621582031
                    },
                    "rotation": {
                        "roll": -0.00079345703125,
                        "pitch": 0.14503222703933716,
                        "yaw": -0.16448974609375
                    }
                },
                "velocity": {
                    "x": 1.6315460205078125,
                    "y": -0.005122140049934387,
                    "z": 0.008829288184642792
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0006035162950865924,
                "transform": {
                    "location": {
                        "x": 2139.489990234375,
                        "y": 2527.330810546875,
                        "z": 364.7918701171875
                    },
                    "rotation": {
                        "roll": -0.0027770991437137127,
                        "pitch": -0.23239034414291382,
                        "yaw": 0.3422342836856842
                    }
                },
                "velocity": {
                    "x": -0.00023630584473721683,
                    "y": -2.6023273676401004e-05,
                    "z": 0.0005547199980355799
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.8269063234329224,
                "transform": {
                    "location": {
                        "x": 2148.2568359375,
                        "y": 2527.276123046875,
                        "z": 364.7525634765625
                    },
                    "rotation": {
                        "roll": 3.250621011829935e-05,
                        "pitch": -0.20239216089248657,
                        "yaw": -0.1296692043542862
                    }
                },
                "velocity": {
                    "x": 0.8268677592277527,
                    "y": 0.007689753081649542,
                    "z": -0.002173099434003234
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 0.7373595833778381,
                "transform": {
                    "location": {
                        "x": 2138.781005859375,
                        "y": 2524.485107421875,
                        "z": 364.7981262207031
                    },
                    "rotation": {
                        "roll": 0.002024662448093295,
                        "pitch": 0.15996302664279938,
                        "yaw": -179.79409790039062
                    }
                },
                "velocity": {
                    "x": -0.7373512387275696,
                    "y": -0.0024344471748918295,
                    "z": 0.002522268332540989
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8402223587036133,
                "transform": {
                    "location": {
                        "x": 2127.2802734375,
                        "y": 2524.529052734375,
                        "z": 364.84222412109375
                    },
                    "rotation": {
                        "roll": -0.003479002509266138,
                        "pitch": 0.11639324575662613,
                        "yaw": -179.60440063476562
                    }
                },
                "velocity": {
                    "x": -3.840175151824951,
                    "y": -0.013256935402750969,
                    "z": 0.013683099299669266
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.41475510597229,
                "transform": {
                    "location": {
                        "x": 2172.591552734375,
                        "y": 2527.31787109375,
                        "z": 364.9199523925781
                    },
                    "rotation": {
                        "roll": -0.0005493164644576609,
                        "pitch": 1.0583240985870361,
                        "yaw": -0.1505126804113388
                    }
                },
                "velocity": {
                    "x": 3.414144515991211,
                    "y": -0.004251175560057163,
                    "z": 0.06443597376346588
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.3932851552963257,
        "expert_target_speed": 5.470557842934011,
        "target_point": [
            23.882683894358408,
            -0.71806895982305
        ],
        "target_point_next": [
            23.882683894358408,
            -0.71806895982305
        ]
    },
    "610": {
        "acceleration": [
            3.209843635559082,
            0.16012832522392273,
            0.02933591604232788
        ],
        "angular_velocity": [
            0.1359288990497589,
            -0.833760678768158,
            0.3918530344963074
        ],
        "forward_vector": [
            -0.9995628595352173,
            -0.022011084482073784,
            -0.01974072866141796
        ],
        "right_vector": [
            0.02201705612242222,
            -0.9997575879096985,
            -8.522340067429468e-05
        ],
        "location": [
            2171.06201171875,
            2524.08056640625,
            364.8834533691406
        ],
        "rotation": [
            0.004883892834186554,
            -1.1311339139938354,
            -178.73851013183594
        ],
        "velocity": [
            -3.6144957542419434,
            -0.09410074353218079,
            -0.06639217585325241
        ],
        "speed": 3.6157204686433304,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.56071472167969,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.50390625,
                2524.484130859375,
                364.7992248535156
            ],
            "velocity": [
                -1.5232963562011719,
                -0.006071506999433041,
                0.005171833094209433
            ],
            "speed_kmh": 5.4839420476808955,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.998333215713501,
                "transform": {
                    "location": {
                        "x": 2160.2265625,
                        "y": 2527.34814453125,
                        "z": 364.74456787109375
                    },
                    "rotation": {
                        "roll": -0.001373291015625,
                        "pitch": 0.3148580491542816,
                        "yaw": -0.16741943359375
                    }
                },
                "velocity": {
                    "x": 2.9982986450195312,
                    "y": 0.001062885974533856,
                    "z": 0.014365920796990395
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 7.259463018272072e-05,
                "transform": {
                    "location": {
                        "x": 2139.490234375,
                        "y": 2527.330810546875,
                        "z": 364.7918701171875
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": -0.22689887881278992,
                        "yaw": 0.3422294855117798
                    }
                },
                "velocity": {
                    "x": -3.246530832257122e-05,
                    "y": 2.791566657833755e-05,
                    "z": 5.862336911377497e-05
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.6160659790039062,
                "transform": {
                    "location": {
                        "x": 2148.56640625,
                        "y": 2527.27783203125,
                        "z": 364.7513732910156
                    },
                    "rotation": {
                        "roll": -0.00018310549785383046,
                        "pitch": -0.19894291460514069,
                        "yaw": -0.0567016527056694
                    }
                },
                "velocity": {
                    "x": 1.6160061359405518,
                    "y": 0.012393169105052948,
                    "z": -0.006307592149823904
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5233172178268433,
                "transform": {
                    "location": {
                        "x": 2138.50390625,
                        "y": 2524.484130859375,
                        "z": 364.7992248535156
                    },
                    "rotation": {
                        "roll": 0.0020147250033915043,
                        "pitch": 0.13844792544841766,
                        "yaw": -179.78509521484375
                    }
                },
                "velocity": {
                    "x": -1.5232963562011719,
                    "y": -0.006071506999433041,
                    "z": 0.005171833094209433
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.8426272869110107,
                "transform": {
                    "location": {
                        "x": 2126.265625,
                        "y": 2524.524658203125,
                        "z": 364.8460388183594
                    },
                    "rotation": {
                        "roll": 0.0008229016093537211,
                        "pitch": 0.2151714414358139,
                        "yaw": -179.67648315429688
                    }
                },
                "velocity": {
                    "x": -3.8425533771514893,
                    "y": -0.014159683138132095,
                    "z": 0.01916687935590744
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.242654800415039,
                "transform": {
                    "location": {
                        "x": 2173.4189453125,
                        "y": 2527.28759765625,
                        "z": 364.93511962890625
                    },
                    "rotation": {
                        "roll": 0.14180277287960052,
                        "pitch": 1.0936566591262817,
                        "yaw": -1.1599122285842896
                    }
                },
                "velocity": {
                    "x": 3.232743263244629,
                    "y": -0.24608942866325378,
                    "z": 0.060173701494932175
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4219626188278198,
        "expert_target_speed": 4.733043074718372,
        "target_point": [
            22.877719198782245,
            -0.9489676428410603
        ],
        "target_point_next": [
            22.877719198782245,
            -0.9489676428410603
        ]
    },
    "615": {
        "acceleration": [
            2.777833938598633,
            0.13278283178806305,
            0.055702030658721924
        ],
        "angular_velocity": [
            -0.05030856281518936,
            -0.24962182343006134,
            -0.163531094789505
        ],
        "forward_vector": [
            -0.9995169043540955,
            -0.022152885794639587,
            -0.021798910573124886
        ],
        "right_vector": [
            0.022161243483424187,
            -0.9997544288635254,
            -0.0001418084284523502
        ],
        "location": [
            2170.2578125,
            2524.06201171875,
            364.8697204589844
        ],
        "rotation": [
            0.008126955479383469,
            -1.24908447265625,
            -178.73033142089844
        ],
        "velocity": [
            -2.8735499382019043,
            -0.05666009709239006,
            -0.04883329197764397
        ],
        "speed": 2.8741084902874987,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.241825103759766,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2138.018798828125,
                2524.482177734375,
                364.8010559082031
            ],
            "velocity": [
                -2.166449785232544,
                -0.009111525490880013,
                0.007706517819315195
            ],
            "speed_kmh": 7.799337547890306,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.294503211975098,
                "transform": {
                    "location": {
                        "x": 2161.143798828125,
                        "y": 2527.34521484375,
                        "z": 364.7492370605469
                    },
                    "rotation": {
                        "roll": 0.0006646256078965962,
                        "pitch": 0.384642094373703,
                        "yaw": -0.04339599609375
                    }
                },
                "velocity": {
                    "x": 4.294337749481201,
                    "y": -0.009598987177014351,
                    "z": 0.03646782785654068
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.00028742317226715386,
                "transform": {
                    "location": {
                        "x": 2139.490234375,
                        "y": 2527.330810546875,
                        "z": 364.7918701171875
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": -0.22689887881278992,
                        "yaw": 0.3422294855117798
                    }
                },
                "velocity": {
                    "x": -4.575099592329934e-05,
                    "y": 5.1625273044919595e-05,
                    "z": 0.0002790228754747659
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 2.3816609382629395,
                "transform": {
                    "location": {
                        "x": 2149.06787109375,
                        "y": 2527.28076171875,
                        "z": 364.7494812011719
                    },
                    "rotation": {
                        "roll": -0.0015258787898346782,
                        "pitch": -0.200131356716156,
                        "yaw": 0.07058873027563095
                    }
                },
                "velocity": {
                    "x": 2.38157057762146,
                    "y": 0.018941959366202354,
                    "z": -0.008494462817907333
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.16648268699646,
                "transform": {
                    "location": {
                        "x": 2138.018798828125,
                        "y": 2524.482177734375,
                        "z": 364.8010559082031
                    },
                    "rotation": {
                        "roll": 0.0021400803234428167,
                        "pitch": 0.14244358241558075,
                        "yaw": -179.77835083007812
                    }
                },
                "velocity": {
                    "x": -2.166449785232544,
                    "y": -0.009111525490880013,
                    "z": 0.007706517819315195
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.7564640045166016,
                "transform": {
                    "location": {
                        "x": 2125.4462890625,
                        "y": 2524.521240234375,
                        "z": 364.84893798828125
                    },
                    "rotation": {
                        "roll": 0.0020738712046295404,
                        "pitch": 0.35331884026527405,
                        "yaw": -179.71365356445312
                    }
                },
                "velocity": {
                    "x": -2.7564125061035156,
                    "y": -0.00991895329207182,
                    "z": 0.013638420030474663
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.119101047515869,
                "transform": {
                    "location": {
                        "x": 2174.216552734375,
                        "y": 2527.232421875,
                        "z": 364.9500732421875
                    },
                    "rotation": {
                        "roll": -9.155177394859493e-05,
                        "pitch": 1.133319616317749,
                        "yaw": -2.45550537109375
                    }
                },
                "velocity": {
                    "x": 3.1063313484191895,
                    "y": -0.27529725432395935,
                    "z": 0.06089010089635849
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.43703052401542664,
        "expert_target_speed": 4.017087354295225,
        "target_point": [
            22.07317076003718,
            -0.9529598915208636
        ],
        "target_point_next": [
            22.07317076003718,
            -0.9529598915208636
        ]
    },
    "620": {
        "acceleration": [
            1.6144752502441406,
            -0.08092403411865234,
            0.02517804503440857
        ],
        "angular_velocity": [
            -0.18233224749565125,
            0.22651830315589905,
            0.14356377720832825
        ],
        "forward_vector": [
            -0.999528706073761,
            -0.021461492404341698,
            -0.021949555724859238
        ],
        "right_vector": [
            0.02145972102880478,
            -0.9997696876525879,
            0.00031630718149244785
        ],
        "location": [
            2169.62109375,
            2524.04931640625,
            364.8591613769531
        ],
        "rotation": [
            -0.018127433955669403,
            -1.2577178478240967,
            -178.76995849609375
        ],
        "velocity": [
            -2.2978312969207764,
            -0.05352272465825081,
            -0.03895611688494682
        ],
        "speed": 2.2984545571238644,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.08180618286133,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2137.542236328125,
                2524.48046875,
                364.8020935058594
            ],
            "velocity": [
                -1.7595067024230957,
                -0.00029564963188022375,
                0.006162462290376425
            ],
            "speed_kmh": 6.334263067943806,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.005847930908203,
                "transform": {
                    "location": {
                        "x": 2162.36181640625,
                        "y": 2527.343505859375,
                        "z": 364.7595520019531
                    },
                    "rotation": {
                        "roll": -0.0004882813082076609,
                        "pitch": 0.5427336096763611,
                        "yaw": -0.1197509691119194
                    }
                },
                "velocity": {
                    "x": 5.005623817443848,
                    "y": -0.009408083744347095,
                    "z": 0.04640897735953331
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.0004964678082615137,
                "transform": {
                    "location": {
                        "x": 2139.490234375,
                        "y": 2527.330810546875,
                        "z": 364.7918701171875
                    },
                    "rotation": {
                        "roll": -0.0016479489859193563,
                        "pitch": -0.22689887881278992,
                        "yaw": 0.3422294855117798
                    }
                },
                "velocity": {
                    "x": 3.806918903137557e-05,
                    "y": -3.924483826267533e-05,
                    "z": 0.0004934479366056621
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.1707842350006104,
                "transform": {
                    "location": {
                        "x": 2149.76611328125,
                        "y": 2527.285400390625,
                        "z": 364.7467346191406
                    },
                    "rotation": {
                        "roll": -0.0016479493351653218,
                        "pitch": -0.19971472024917603,
                        "yaw": 0.19974423944950104
                    }
                },
                "velocity": {
                    "x": 3.1706578731536865,
                    "y": 0.026200035586953163,
                    "z": -0.010679922066628933
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7595174312591553,
                "transform": {
                    "location": {
                        "x": 2137.542236328125,
                        "y": 2524.48046875,
                        "z": 364.8020935058594
                    },
                    "rotation": {
                        "roll": 0.001464311615563929,
                        "pitch": 0.24113298952579498,
                        "yaw": -179.7836151123047
                    }
                },
                "velocity": {
                    "x": -1.7595067024230957,
                    "y": -0.00029564963188022375,
                    "z": 0.006162462290376425
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.0829150676727295,
                "transform": {
                    "location": {
                        "x": 2124.87109375,
                        "y": 2524.519287109375,
                        "z": 364.8516845703125
                    },
                    "rotation": {
                        "roll": 0.002116226125508547,
                        "pitch": 0.35256069898605347,
                        "yaw": -179.73214721679688
                    }
                },
                "velocity": {
                    "x": -2.082880735397339,
                    "y": -0.007466749753803015,
                    "z": 0.009321813471615314
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.3682618141174316,
                "transform": {
                    "location": {
                        "x": 2174.8583984375,
                        "y": 2527.182373046875,
                        "z": 364.96392822265625
                    },
                    "rotation": {
                        "roll": -0.08651730418205261,
                        "pitch": 0.9903842210769653,
                        "yaw": -3.346435546875
                    }
                },
                "velocity": {
                    "x": 2.358006000518799,
                    "y": -0.21481537818908691,
                    "z": 0.048227518796920776
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.46541938185691833,
        "expert_target_speed": 3.452793285892256,
        "target_point": [
            21.43698026711795,
            -0.9367116905467837
        ],
        "target_point_next": [
            21.43698026711795,
            -0.9367116905467837
        ]
    },
    "625": {
        "acceleration": [
            -1.5806055068969727,
            0.1506900042295456,
            -0.02306230366230011
        ],
        "angular_velocity": [
            0.15607279539108276,
            0.9810395240783691,
            -0.743954062461853
        ],
        "forward_vector": [
            -0.9996017217636108,
            -0.02088105119764805,
            -0.0189850851893425
        ],
        "right_vector": [
            0.020884573459625244,
            -0.9997819066047668,
            1.2780902579834219e-05
        ],
        "location": [
            2169.050537109375,
            2524.037841796875,
            364.8489074707031
        ],
        "rotation": [
            -0.0007324237958528101,
            -1.0878305435180664,
            -178.8032989501953
        ],
        "velocity": [
            -2.385619878768921,
            -0.029842369258403778,
            -0.039070285856723785
        ],
        "speed": 2.385806524632791,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 32.010162353515625,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2137.04345703125,
                2524.47998046875,
                364.804443359375
            ],
            "velocity": [
                -2.1690585613250732,
                -0.0019284712616354227,
                0.007701348979026079
            ],
            "speed_kmh": 7.808663126052174,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.635795593261719,
                "transform": {
                    "location": {
                        "x": 2163.71142578125,
                        "y": 2527.341552734375,
                        "z": 364.77142333984375
                    },
                    "rotation": {
                        "roll": -0.00030517569393850863,
                        "pitch": 0.6509169936180115,
                        "yaw": -0.264739990234375
                    }
                },
                "velocity": {
                    "x": 4.635529518127441,
                    "y": -0.01793590933084488,
                    "z": 0.046296317130327225
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.012018343433737755,
                "transform": {
                    "location": {
                        "x": 2139.49169921875,
                        "y": 2527.330810546875,
                        "z": 364.7918701171875
                    },
                    "rotation": {
                        "roll": -0.0017395018367096782,
                        "pitch": -0.21575883030891418,
                        "yaw": 0.34324514865875244
                    }
                },
                "velocity": {
                    "x": -0.011931140907108784,
                    "y": -3.373987055965699e-05,
                    "z": 0.00144475931301713
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.932572603225708,
                "transform": {
                    "location": {
                        "x": 2150.658935546875,
                        "y": 2527.2919921875,
                        "z": 364.7435607910156
                    },
                    "rotation": {
                        "roll": -0.00021362301777116954,
                        "pitch": -0.19397053122520447,
                        "yaw": 0.3168182671070099
                    }
                },
                "velocity": {
                    "x": 3.9324140548706055,
                    "y": 0.03378404304385185,
                    "z": -0.010264186188578606
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1690731048583984,
                "transform": {
                    "location": {
                        "x": 2137.04345703125,
                        "y": 2524.47998046875,
                        "z": 364.804443359375
                    },
                    "rotation": {
                        "roll": 0.001479132566601038,
                        "pitch": 0.18562404811382294,
                        "yaw": -179.8156280517578
                    }
                },
                "velocity": {
                    "x": -2.1690585613250732,
                    "y": -0.0019284712616354227,
                    "z": 0.007701348979026079
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.802254557609558,
                "transform": {
                    "location": {
                        "x": 2124.362548828125,
                        "y": 2524.51708984375,
                        "z": 364.854248046875
                    },
                    "rotation": {
                        "roll": 0.000411582353990525,
                        "pitch": 0.32640787959098816,
                        "yaw": -179.74624633789062
                    }
                },
                "velocity": {
                    "x": -1.8022174835205078,
                    "y": -0.006649325136095285,
                    "z": 0.009473476558923721
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 3.2794687747955322,
                "transform": {
                    "location": {
                        "x": 2175.552490234375,
                        "y": 2527.122802734375,
                        "z": 364.9757080078125
                    },
                    "rotation": {
                        "roll": -0.0653076171875,
                        "pitch": 1.2782424688339233,
                        "yaw": -3.9660046100616455
                    }
                },
                "velocity": {
                    "x": 3.2644407749176025,
                    "y": -0.30677327513694763,
                    "z": 0.06506095826625824
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4771917462348938,
        "expert_target_speed": 3.539009939158799,
        "target_point": [
            20.866849722921433,
            -0.9237968351824
        ],
        "target_point_next": [
            20.866849722921433,
            -0.9237968351824
        ]
    },
    "630": {
        "acceleration": [
            -3.3339834213256836,
            -0.0554049015045166,
            0.0303012877702713
        ],
        "angular_velocity": [
            -0.007058963645249605,
            1.180525779724121,
            -0.9711070656776428
        ],
        "forward_vector": [
            -0.9997588396072388,
            -0.01655464991927147,
            -0.014427399262785912
        ],
        "right_vector": [
            0.016559023410081863,
            -0.9998628497123718,
            -0.00018372586055193096
        ],
        "location": [
            2168.371826171875,
            2524.03076171875,
            364.8369445800781
        ],
        "rotation": [
            0.01052781194448471,
            -0.826657772064209,
            -179.0513458251953
        ],
        "velocity": [
            -3.0660393238067627,
            -0.02593950927257538,
            -0.044374093413352966
        ],
        "speed": 3.0661490494218855,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.807628631591797,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2136.5673828125,
                2524.479736328125,
                364.80572509765625
            ],
            "velocity": [
                -1.7554714679718018,
                -0.0016458125319331884,
                0.005804490763694048
            ],
            "speed_kmh": 6.319734608727478,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 0.0004268787452019751,
                "transform": {
                    "location": {
                        "x": 2164.1181640625,
                        "y": 2527.33935546875,
                        "z": 364.7776794433594
                    },
                    "rotation": {
                        "roll": 0.0009845284512266517,
                        "pitch": 0.39458000659942627,
                        "yaw": -0.3240356147289276
                    }
                },
                "velocity": {
                    "x": -0.00042184724588878453,
                    "y": -1.1296069715172052e-05,
                    "z": 6.436424882849678e-05
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.48588162660598755,
                "transform": {
                    "location": {
                        "x": 2139.54736328125,
                        "y": 2527.3310546875,
                        "z": 364.791748046875
                    },
                    "rotation": {
                        "roll": -0.0008850098238326609,
                        "pitch": -0.14987483620643616,
                        "yaw": 0.33429843187332153
                    }
                },
                "velocity": {
                    "x": 0.4858642816543579,
                    "y": 0.0036347373388707638,
                    "z": -0.0019053173018619418
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.681015491485596,
                "transform": {
                    "location": {
                        "x": 2151.73876953125,
                        "y": 2527.300537109375,
                        "z": 364.740966796875
                    },
                    "rotation": {
                        "roll": -0.001129150390625,
                        "pitch": -0.12579841911792755,
                        "yaw": 0.40605223178863525
                    }
                },
                "velocity": {
                    "x": 4.680821418762207,
                    "y": 0.041519418358802795,
                    "z": -0.009610223583877087
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7554818391799927,
                "transform": {
                    "location": {
                        "x": 2136.5673828125,
                        "y": 2524.479736328125,
                        "z": 364.80572509765625
                    },
                    "rotation": {
                        "roll": 0.0009692003950476646,
                        "pitch": 0.24602340161800385,
                        "yaw": -179.84161376953125
                    }
                },
                "velocity": {
                    "x": -1.7554714679718018,
                    "y": -0.0016458125319331884,
                    "z": 0.005804490763694048
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.5558489561080933,
                "transform": {
                    "location": {
                        "x": 2123.974365234375,
                        "y": 2524.51611328125,
                        "z": 364.856201171875
                    },
                    "rotation": {
                        "roll": 0.0012256898917257786,
                        "pitch": 0.3247549831867218,
                        "yaw": -179.70152282714844
                    }
                },
                "velocity": {
                    "x": -1.5558112859725952,
                    "y": -0.005487609189003706,
                    "z": 0.009340343065559864
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.6816742420196533,
                "transform": {
                    "location": {
                        "x": 2176.310302734375,
                        "y": 2527.052978515625,
                        "z": 364.99169921875
                    },
                    "rotation": {
                        "roll": -0.0669860690832138,
                        "pitch": 1.1494251489639282,
                        "yaw": -4.547914028167725
                    }
                },
                "velocity": {
                    "x": 2.66087007522583,
                    "y": -0.32926276326179504,
                    "z": 0.052280034869909286
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4965071380138397,
        "expert_target_speed": 4.201438374280153,
        "target_point": [
            20.191918343613988,
            -0.8292936485039775
        ],
        "target_point_next": [
            20.191918343613988,
            -0.8292936485039775
        ]
    },
    "635": {
        "acceleration": [
            -3.814401626586914,
            0.004064030945301056,
            -0.05502238869667053
        ],
        "angular_velocity": [
            0.04047339782118797,
            1.0128971338272095,
            -0.7694069147109985
        ],
        "forward_vector": [
            -0.9998731017112732,
            -0.012923425063490868,
            -0.009318693540990353
        ],
        "right_vector": [
            0.012925147078931332,
            -0.9999164938926697,
            -0.00012465257896110415
        ],
        "location": [
            2167.4814453125,
            2524.022216796875,
            364.82379150390625
        ],
        "rotation": [
            0.007142376620322466,
            -0.5339295268058777,
            -179.25949096679688
        ],
        "velocity": [
            -4.013438701629639,
            -0.02964852936565876,
            -0.05337940901517868
        ],
        "speed": 4.013548211624242,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 31.412994384765625,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2136.07177734375,
                2524.47900390625,
                364.8080749511719
            ],
            "velocity": [
                -2.1540353298187256,
                -0.0019864491187036037,
                0.007564363535493612
            ],
            "speed_kmh": 7.754578299635159,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2166846990585327,
                "transform": {
                    "location": {
                        "x": 2164.2626953125,
                        "y": 2527.33837890625,
                        "z": 364.7780456542969
                    },
                    "rotation": {
                        "roll": 0.0006415740353986621,
                        "pitch": 0.6321271657943726,
                        "yaw": -0.224609375
                    }
                },
                "velocity": {
                    "x": 1.2165554761886597,
                    "y": -0.004833896178752184,
                    "z": 0.017061252146959305
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.5642672777175903,
                "transform": {
                    "location": {
                        "x": 2139.800537109375,
                        "y": 2527.33251953125,
                        "z": 364.7908020019531
                    },
                    "rotation": {
                        "roll": -0.0021362302359193563,
                        "pitch": -0.03576286882162094,
                        "yaw": 0.3859596252441406
                    }
                },
                "velocity": {
                    "x": 1.564223289489746,
                    "y": 0.009875594638288021,
                    "z": -0.0063284775242209435
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.843367099761963,
                "transform": {
                    "location": {
                        "x": 2152.97705078125,
                        "y": 2527.310791015625,
                        "z": 364.7381896972656
                    },
                    "rotation": {
                        "roll": -0.0011901856632903218,
                        "pitch": -0.06097309663891792,
                        "yaw": 0.4513562321662903
                    }
                },
                "velocity": {
                    "x": 4.843274116516113,
                    "y": 0.027392832562327385,
                    "z": -0.012311677448451519
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.1540493965148926,
                "transform": {
                    "location": {
                        "x": 2136.07177734375,
                        "y": 2524.47900390625,
                        "z": 364.8080749511719
                    },
                    "rotation": {
                        "roll": 0.0017031782772392035,
                        "pitch": 0.18634803593158722,
                        "yaw": -179.86192321777344
                    }
                },
                "velocity": {
                    "x": -2.1540353298187256,
                    "y": -0.0019864491187036037,
                    "z": 0.007564363535493612
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3260276317596436,
                "transform": {
                    "location": {
                        "x": 2123.493408203125,
                        "y": 2524.513916015625,
                        "z": 364.85955810546875
                    },
                    "rotation": {
                        "roll": -0.00039672854472883046,
                        "pitch": 0.23803207278251648,
                        "yaw": -179.7216796875
                    }
                },
                "velocity": {
                    "x": -2.3259873390197754,
                    "y": -0.00833830051124096,
                    "z": 0.010836000554263592
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 2.754380464553833,
                "transform": {
                    "location": {
                        "x": 2176.946533203125,
                        "y": 2526.97216796875,
                        "z": 365.0050964355469
                    },
                    "rotation": {
                        "roll": -0.058258056640625,
                        "pitch": 1.0583240985870361,
                        "yaw": -5.575442314147949
                    }
                },
                "velocity": {
                    "x": 2.7246921062469482,
                    "y": -0.39972567558288574,
                    "z": 0.05370432883501053
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4945234954357147,
        "expert_target_speed": 5.109157555900382,
        "target_point": [
            19.30438099315914,
            -0.7529677099428542
        ],
        "target_point_next": [
            19.30438099315914,
            -0.7529677099428542
        ]
    },
    "640": {
        "acceleration": [
            -3.44451904296875,
            -0.03813028335571289,
            -0.05337461829185486
        ],
        "angular_velocity": [
            0.03704582527279854,
            0.6683276295661926,
            -0.12600255012512207
        ],
        "forward_vector": [
            -0.9999145269393921,
            -0.011684340424835682,
            -0.005866374354809523
        ],
        "right_vector": [
            0.01168322004377842,
            -0.9999317526817322,
            0.00022529954730998725
        ],
        "location": [
            2166.359375,
            2524.010498046875,
            364.8079528808594
        ],
        "rotation": [
            -0.012908935546875,
            -0.3361204266548157,
            -179.33050537109375
        ],
        "velocity": [
            -4.900595188140869,
            -0.053833115845918655,
            -0.06592851132154465
        ],
        "speed": 4.900890858037049,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 30.76479148864746,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2135.59814453125,
                2524.478515625,
                364.8094482421875
            ],
            "velocity": [
                -1.7474517822265625,
                -0.0015311390161514282,
                0.0059951492585241795
            ],
            "speed_kmh": 6.290865853410727,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 1.2502981424331665,
                "transform": {
                    "location": {
                        "x": 2164.57373046875,
                        "y": 2527.341552734375,
                        "z": 364.7814636230469
                    },
                    "rotation": {
                        "roll": -0.0025329587515443563,
                        "pitch": 0.639735996723175,
                        "yaw": -0.401214599609375
                    }
                },
                "velocity": {
                    "x": 1.2502102851867676,
                    "y": 0.006398398894816637,
                    "z": 0.013371285982429981
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.204277515411377,
                "transform": {
                    "location": {
                        "x": 2140.31884765625,
                        "y": 2527.33544921875,
                        "z": 364.7888488769531
                    },
                    "rotation": {
                        "roll": -0.0017089841421693563,
                        "pitch": -0.0632680356502533,
                        "yaw": 0.37728261947631836
                    }
                },
                "velocity": {
                    "x": 2.204221487045288,
                    "y": 0.012796301394701004,
                    "z": -0.00913552287966013
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.3221991062164307,
                "transform": {
                    "location": {
                        "x": 2153.994384765625,
                        "y": 2527.31591796875,
                        "z": 364.7367248535156
                    },
                    "rotation": {
                        "roll": -0.00033569338847883046,
                        "pitch": -0.07040558755397797,
                        "yaw": 0.34822967648506165
                    }
                },
                "velocity": {
                    "x": 3.322178363800049,
                    "y": 0.011608187109231949,
                    "z": -0.0018614291911944747
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.7474627494812012,
                "transform": {
                    "location": {
                        "x": 2135.59814453125,
                        "y": 2524.478515625,
                        "z": 364.8094482421875
                    },
                    "rotation": {
                        "roll": 0.0017119110561907291,
                        "pitch": 0.2451832890510559,
                        "yaw": -179.87876892089844
                    }
                },
                "velocity": {
                    "x": -1.7474517822265625,
                    "y": -0.0015311390161514282,
                    "z": 0.0059951492585241795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.2182207107543945,
                "transform": {
                    "location": {
                        "x": 2122.80078125,
                        "y": 2524.51123046875,
                        "z": 364.8633117675781
                    },
                    "rotation": {
                        "roll": 0.001785683329217136,
                        "pitch": 0.20651759207248688,
                        "yaw": -179.74366760253906
                    }
                },
                "velocity": {
                    "x": -3.2181649208068848,
                    "y": -0.011583346873521805,
                    "z": 0.014957561157643795
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 4.593960762023926,
                "transform": {
                    "location": {
                        "x": 2177.84326171875,
                        "y": 2526.82470703125,
                        "z": 365.0193176269531
                    },
                    "rotation": {
                        "roll": 0.03397815302014351,
                        "pitch": 1.4879429340362549,
                        "yaw": -7.5057148933410645
                    }
                },
                "velocity": {
                    "x": 4.5041093826293945,
                    "y": -0.8997023701667786,
                    "z": 0.0895061269402504
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.48977506160736084,
        "expert_target_speed": 5.931196638459742,
        "target_point": [
            18.18316868050974,
            -0.7276501845086759
        ],
        "target_point_next": [
            18.18316868050974,
            -0.7276501845086759
        ]
    },
    "645": {
        "acceleration": [
            0.5738449096679688,
            0.016614943742752075,
            0.07029466331005096
        ],
        "angular_velocity": [
            -0.0930655375123024,
            -1.1726901531219482,
            3.3268909454345703
        ],
        "forward_vector": [
            -0.9999135732650757,
            -0.011201033368706703,
            -0.006875102873891592
        ],
        "right_vector": [
            0.011200254783034325,
            -0.9999372363090515,
            0.00015179661568254232
        ],
        "location": [
            2165.078369140625,
            2523.996337890625,
            364.7922058105469
        ],
        "rotation": [
            -0.00869751162827015,
            -0.3939174711704254,
            -179.3582000732422
        ],
        "velocity": [
            -5.096878528594971,
            -0.0543033629655838,
            -0.05611500144004822
        ],
        "speed": 5.097167800895102,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.97799301147461,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2135.104248046875,
                2524.477783203125,
                364.81182861328125
            ],
            "velocity": [
                -2.14825701713562,
                -0.0022779053542762995,
                0.007292852271348238
            ],
            "speed_kmh": 7.733774172899318,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.8867685794830322,
                "transform": {
                    "location": {
                        "x": 2165.1015625,
                        "y": 2527.3369140625,
                        "z": 364.78668212890625
                    },
                    "rotation": {
                        "roll": 0.0018540817545726895,
                        "pitch": 0.7144855856895447,
                        "yaw": -0.0916748046875
                    }
                },
                "velocity": {
                    "x": 2.886573076248169,
                    "y": -0.011774413287639618,
                    "z": 0.03146103769540787
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.660433828830719,
                "transform": {
                    "location": {
                        "x": 2140.460693359375,
                        "y": 2527.336181640625,
                        "z": 364.78814697265625
                    },
                    "rotation": {
                        "roll": -0.0018005369929596782,
                        "pitch": -0.3715759217739105,
                        "yaw": 0.42259785532951355
                    }
                },
                "velocity": {
                    "x": 0.6604151725769043,
                    "y": 0.004403258673846722,
                    "z": -0.0022938346955925226
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2254613637924194,
                "transform": {
                    "location": {
                        "x": 2154.61865234375,
                        "y": 2527.318603515625,
                        "z": 364.7365417480469
                    },
                    "rotation": {
                        "roll": -0.0009460448054596782,
                        "pitch": -0.0895642638206482,
                        "yaw": 0.2426326870918274
                    }
                },
                "velocity": {
                    "x": 1.2254598140716553,
                    "y": -0.001656358945183456,
                    "z": -0.0010421467013657093
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.148270606994629,
                "transform": {
                    "location": {
                        "x": 2135.104248046875,
                        "y": 2524.477783203125,
                        "z": 364.81182861328125
                    },
                    "rotation": {
                        "roll": 0.0015817011008039117,
                        "pitch": 0.18622510135173798,
                        "yaw": -179.88970947265625
                    }
                },
                "velocity": {
                    "x": -2.14825701713562,
                    "y": -0.0022779053542762995,
                    "z": 0.007292852271348238
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.336455821990967,
                "transform": {
                    "location": {
                        "x": 2121.851318359375,
                        "y": 2524.509521484375,
                        "z": 364.8689880371094
                    },
                    "rotation": {
                        "roll": 0.00031997854239307344,
                        "pitch": 0.21108698844909668,
                        "yaw": -179.81698608398438
                    }
                },
                "velocity": {
                    "x": -4.33634614944458,
                    "y": -0.0027144446503371,
                    "z": 0.03071538917720318
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 5.664994239807129,
                "transform": {
                    "location": {
                        "x": 2179.111083984375,
                        "y": 2526.55029296875,
                        "z": 365.04510498046875
                    },
                    "rotation": {
                        "roll": 0.05182816460728645,
                        "pitch": 1.4508140087127686,
                        "yaw": -10.958724975585938
                    }
                },
                "velocity": {
                    "x": 5.4712629318237305,
                    "y": -1.464759349822998,
                    "z": 0.10917667299509048
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5302776098251343,
        "expert_target_speed": 6.107532223512286,
        "target_point": [
            16.902434277559017,
            -0.7186688206985767
        ],
        "target_point_next": [
            16.902434277559017,
            -0.7186688206985767
        ]
    },
    "650": {
        "acceleration": [
            0.8776950836181641,
            0.22231832146644592,
            0.02054348587989807
        ],
        "angular_velocity": [
            0.23985275626182556,
            -0.6126421093940735,
            -4.3881611824035645
        ],
        "forward_vector": [
            -0.999911367893219,
            -0.009060455486178398,
            -0.00975128449499607
        ],
        "right_vector": [
            0.00906325038522482,
            -0.9999589323997498,
            -0.00024235235468950123
        ],
        "location": [
            2163.802490234375,
            2523.98486328125,
            364.7791748046875
        ],
        "rotation": [
            0.013886427506804466,
            -0.5587162971496582,
            -179.48085021972656
        ],
        "velocity": [
            -5.0805511474609375,
            -0.027959175407886505,
            -0.05517929792404175
        ],
        "speed": 5.0806280790327625,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 29.17458152770996,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2134.632080078125,
                2524.47705078125,
                364.8130798339844
            ],
            "velocity": [
                -1.7451307773590088,
                -0.0018182891653850675,
                0.006533822976052761
            ],
            "speed_kmh": 6.282518241538629,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.001560688018799,
                "transform": {
                    "location": {
                        "x": 2165.958740234375,
                        "y": 2527.335693359375,
                        "z": 364.7960510253906
                    },
                    "rotation": {
                        "roll": -0.0014038084773346782,
                        "pitch": 0.7174156904220581,
                        "yaw": -0.24234002828598022
                    }
                },
                "velocity": {
                    "x": 4.001283645629883,
                    "y": -0.011276338249444962,
                    "z": 0.045724134892225266
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.9396477937698364,
                "transform": {
                    "location": {
                        "x": 2140.7958984375,
                        "y": 2527.338134765625,
                        "z": 364.7869873046875
                    },
                    "rotation": {
                        "roll": -0.0004577636136673391,
                        "pitch": -0.047394681721925735,
                        "yaw": 0.4084526002407074
                    }
                },
                "velocity": {
                    "x": 1.9396042823791504,
                    "y": 0.011453995481133461,
                    "z": -0.006159772630780935
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.4137883484363556,
                "transform": {
                    "location": {
                        "x": 2154.676025390625,
                        "y": 2527.31884765625,
                        "z": 364.73638916015625
                    },
                    "rotation": {
                        "roll": -0.000213623046875,
                        "pitch": -0.07308302074670792,
                        "yaw": 0.229005828499794
                    }
                },
                "velocity": {
                    "x": 0.4137879014015198,
                    "y": 0.00031645610579289496,
                    "z": -0.0005376529297791421
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 1.745144009590149,
                "transform": {
                    "location": {
                        "x": 2134.632080078125,
                        "y": 2524.47705078125,
                        "z": 364.8130798339844
                    },
                    "rotation": {
                        "roll": 0.001232264330610633,
                        "pitch": 0.2452174425125122,
                        "yaw": -179.89926147460938
                    }
                },
                "velocity": {
                    "x": -1.7451307773590088,
                    "y": -0.0018182891653850675,
                    "z": 0.006533822976052761
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.191497325897217,
                "transform": {
                    "location": {
                        "x": 2120.631591796875,
                        "y": 2524.508056640625,
                        "z": 364.8774108886719
                    },
                    "rotation": {
                        "roll": 0.0007264625746756792,
                        "pitch": 0.288869172334671,
                        "yaw": -179.87791442871094
                    }
                },
                "velocity": {
                    "x": -5.191348075866699,
                    "y": -0.003286325605586171,
                    "z": 0.039219312369823456
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.0223469734191895,
                "transform": {
                    "location": {
                        "x": 2180.6455078125,
                        "y": 2526.07861328125,
                        "z": 365.0755920410156
                    },
                    "rotation": {
                        "roll": 0.16558386385440826,
                        "pitch": 1.3711808919906616,
                        "yaw": -16.573135375976562
                    }
                },
                "velocity": {
                    "x": 6.519174098968506,
                    "y": -2.6075165271759033,
                    "z": 0.12076089531183243
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5259956121444702,
        "expert_target_speed": 6.0863036151804275,
        "target_point": [
            15.628003380039694,
            -0.6824008910198281
        ],
        "target_point_next": [
            15.628003380039694,
            -0.6824008910198281
        ]
    },
    "655": {
        "acceleration": [
            3.181009292602539,
            0.17689743638038635,
            0.07873855531215668
        ],
        "angular_velocity": [
            0.053467586636543274,
            -0.28781557083129883,
            -1.4826226234436035
        ],
        "forward_vector": [
            -0.9999358654022217,
            -0.003786251647397876,
            -0.010675345547497272
        ],
        "right_vector": [
            0.0037950642872601748,
            -0.9999924898147583,
            -0.0008053700439631939
        ],
        "location": [
            2162.5693359375,
            2523.98291015625,
            364.76806640625
        ],
        "rotation": [
            0.0461469367146492,
            -0.6116638779640198,
            -179.78305053710938
        ],
        "velocity": [
            -4.6832275390625,
            0.018027540296316147,
            -0.03388524800539017
        ],
        "speed": 4.6832622363948975,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.443777084350586,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2134.1298828125,
                2524.4765625,
                364.8155822753906
            ],
            "velocity": [
                -2.3664345741271973,
                -0.0022404424380511045,
                0.008208828046917915
            ],
            "speed_kmh": 8.519219540246613,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 5.065744400024414,
                "transform": {
                    "location": {
                        "x": 2167.1318359375,
                        "y": 2527.3330078125,
                        "z": 364.8125
                    },
                    "rotation": {
                        "roll": 0.0002927561290562153,
                        "pitch": 0.8559250831604004,
                        "yaw": -0.21807861328125
                    }
                },
                "velocity": {
                    "x": 5.065136909484863,
                    "y": -0.011060399003326893,
                    "z": 0.07767265290021896
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 2.037721633911133,
                "transform": {
                    "location": {
                        "x": 2141.375,
                        "y": 2527.341796875,
                        "z": 364.7847900390625
                    },
                    "rotation": {
                        "roll": -0.0023193357046693563,
                        "pitch": -0.13678136467933655,
                        "yaw": 0.37475743889808655
                    }
                },
                "velocity": {
                    "x": 2.0376675128936768,
                    "y": 0.01220129244029522,
                    "z": -0.008469581604003906
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.222099781036377,
                "transform": {
                    "location": {
                        "x": 2154.88427734375,
                        "y": 2527.319580078125,
                        "z": 364.73590087890625
                    },
                    "rotation": {
                        "roll": -3.0517578125e-05,
                        "pitch": -0.03533939644694328,
                        "yaw": 0.2071138322353363
                    }
                },
                "velocity": {
                    "x": 1.2220940589904785,
                    "y": 0.002904103370383382,
                    "z": -0.0023482036776840687
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 2.3664498329162598,
                "transform": {
                    "location": {
                        "x": 2134.1298828125,
                        "y": 2524.4765625,
                        "z": 364.8155822753906
                    },
                    "rotation": {
                        "roll": 0.0016357745043933392,
                        "pitch": 0.1717860847711563,
                        "yaw": -179.9088592529297
                    }
                },
                "velocity": {
                    "x": -2.3664345741271973,
                    "y": -0.0022404424380511045,
                    "z": 0.008208828046917915
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.320030212402344,
                "transform": {
                    "location": {
                        "x": 2119.327880859375,
                        "y": 2524.506591796875,
                        "z": 364.8855285644531
                    },
                    "rotation": {
                        "roll": 0.0015173989813774824,
                        "pitch": 0.4306843876838684,
                        "yaw": -179.94374084472656
                    }
                },
                "velocity": {
                    "x": -5.319893836975098,
                    "y": -0.0033951227087527514,
                    "z": 0.03791315108537674
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.34870433807373,
                "transform": {
                    "location": {
                        "x": 2182.3623046875,
                        "y": 2525.307861328125,
                        "z": 365.10687255859375
                    },
                    "rotation": {
                        "roll": 0.10270127654075623,
                        "pitch": 1.1398286819458008,
                        "yaw": -24.95871925354004
                    }
                },
                "velocity": {
                    "x": 7.156452655792236,
                    "y": -4.297998428344727,
                    "z": 0.1151474341750145
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.5234506130218506,
        "expert_target_speed": 5.721608008623334,
        "target_point": [
            14.39823260942656,
            -0.5972418932516306
        ],
        "target_point_next": [
            14.39823260942656,
            -0.5972418932516306
        ]
    },
    "660": {
        "acceleration": [
            -0.3784465789794922,
            0.07184915244579315,
            -0.0013977289199829102
        ],
        "angular_velocity": [
            -0.0555512011051178,
            1.0585966110229492,
            -1.1408449411392212
        ],
        "forward_vector": [
            -0.9999485611915588,
            0.002526786644011736,
            -0.009821614250540733
        ],
        "right_vector": [
            -0.002519190777093172,
            -0.9999964833259583,
            -0.0007856817101128399
        ],
        "location": [
            2161.474365234375,
            2523.989990234375,
            364.7601013183594
        ],
        "rotation": [
            0.04501841962337494,
            -0.5627461075782776,
            179.855224609375
        ],
        "velocity": [
            -4.295302867889404,
            0.04586165025830269,
            -0.029865240678191185
        ],
        "speed": 4.295547697076981,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.057973861694336,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2133.420654296875,
                2524.4755859375,
                364.81866455078125
            ],
            "velocity": [
                -3.30554461479187,
                -0.0032007317058742046,
                0.011493625119328499
            ],
            "speed_kmh": 11.900038127179197,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.4971141815185547,
                "transform": {
                    "location": {
                        "x": 2168.03662109375,
                        "y": 2527.33056640625,
                        "z": 364.8263244628906
                    },
                    "rotation": {
                        "roll": 0.00035958155058324337,
                        "pitch": 0.8657742142677307,
                        "yaw": -0.2203979194164276
                    }
                },
                "velocity": {
                    "x": 3.4966959953308105,
                    "y": -0.008341491222381592,
                    "z": 0.05343901365995407
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.5954024791717529,
                "transform": {
                    "location": {
                        "x": 2141.474365234375,
                        "y": 2527.342529296875,
                        "z": 364.7843322753906
                    },
                    "rotation": {
                        "roll": -0.0018310546875,
                        "pitch": -0.37923941016197205,
                        "yaw": 0.36089077591896057
                    }
                },
                "velocity": {
                    "x": 0.5953819751739502,
                    "y": 0.003800651291385293,
                    "z": -0.0031595230102539062
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.962546467781067,
                "transform": {
                    "location": {
                        "x": 2155.283935546875,
                        "y": 2527.3212890625,
                        "z": 364.7355041503906
                    },
                    "rotation": {
                        "roll": 0.00020080796093679965,
                        "pitch": -0.030271396040916443,
                        "yaw": 0.19971109926700592
                    }
                },
                "velocity": {
                    "x": 1.9625353813171387,
                    "y": 0.006332014221698046,
                    "z": -0.0018094348488375545
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 3.3055663108825684,
                "transform": {
                    "location": {
                        "x": 2133.420654296875,
                        "y": 2524.4755859375,
                        "z": 364.81866455078125
                    },
                    "rotation": {
                        "roll": 0.001027759164571762,
                        "pitch": 0.13019022345542908,
                        "yaw": -179.91903686523438
                    }
                },
                "velocity": {
                    "x": -3.30554461479187,
                    "y": -0.0032007317058742046,
                    "z": 0.011493625119328499
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.706191062927246,
                "transform": {
                    "location": {
                        "x": 2118.072998046875,
                        "y": 2524.505615234375,
                        "z": 364.8946533203125
                    },
                    "rotation": {
                        "roll": 0.0013509445125237107,
                        "pitch": 0.493843138217926,
                        "yaw": -179.9431610107422
                    }
                },
                "velocity": {
                    "x": -4.706043243408203,
                    "y": -0.002560084220021963,
                    "z": 0.03722679987549782
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.272658348083496,
                "transform": {
                    "location": {
                        "x": 2184.10546875,
                        "y": 2524.140869140625,
                        "z": 365.13604736328125
                    },
                    "rotation": {
                        "roll": 0.014656426385045052,
                        "pitch": 0.6283090710639954,
                        "yaw": -36.20643997192383
                    }
                },
                "velocity": {
                    "x": 6.243779182434082,
                    "y": -5.426363945007324,
                    "z": 0.08170264959335327
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.49953460693359375,
        "expert_target_speed": 5.363271136248731,
        "target_point": [
            13.306730885363656,
            -0.5020234116006443
        ],
        "target_point_next": [
            13.306730885363656,
            -0.5020234116006443
        ]
    },
    "665": {
        "acceleration": [
            -1.8389511108398438,
            0.08057869970798492,
            0.07392015308141708
        ],
        "angular_velocity": [
            0.01152900978922844,
            0.8741663694381714,
            -1.0757088661193848
        ],
        "forward_vector": [
            -0.9999621510505676,
            0.007505663204938173,
            -0.004399643279612064
        ],
        "right_vector": [
            -0.00750318169593811,
            -0.9999716281890869,
            -0.0005801874794997275
        ],
        "location": [
            2160.35693359375,
            2524.002197265625,
            364.7511291503906
        ],
        "rotation": [
            0.033242616802453995,
            -0.2520817816257477,
            179.5699462890625
        ],
        "velocity": [
            -4.656731128692627,
            0.061753906309604645,
            -0.027509493753314018
        ],
        "speed": 4.657140576564058,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.909603118896484,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2132.451416015625,
                2524.474365234375,
                364.8225402832031
            ],
            "velocity": [
                -4.417111396789551,
                -0.0040256488136947155,
                0.01615542359650135
            ],
            "speed_kmh": 15.90171399019291,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 4.412235736846924,
                "transform": {
                    "location": {
                        "x": 2169.047119140625,
                        "y": 2527.32861328125,
                        "z": 364.8410949707031
                    },
                    "rotation": {
                        "roll": -0.0029296870343387127,
                        "pitch": 1.0283669233322144,
                        "yaw": -0.22265620529651642
                    }
                },
                "velocity": {
                    "x": 4.411557674407959,
                    "y": -0.008060871623456478,
                    "z": 0.07691770046949387
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85991,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 4.103568077087402,
                "transform": {
                    "location": {
                        "x": 2175.572021484375,
                        "y": 2524.465087890625,
                        "z": 365.3195495605469
                    },
                    "rotation": {
                        "roll": -1.0424093532801493e-10,
                        "pitch": -1.1368712186813354,
                        "yaw": 179.87403869628906
                    }
                },
                "velocity": {
                    "x": -3.9646432399749756,
                    "y": 0.008715769276022911,
                    "z": -1.0586769580841064
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.859501600265503,
                "transform": {
                    "location": {
                        "x": 2141.776123046875,
                        "y": 2527.343994140625,
                        "z": 364.78326416015625
                    },
                    "rotation": {
                        "roll": -0.0013732907827943563,
                        "pitch": -0.052496831864118576,
                        "yaw": 0.33002734184265137
                    }
                },
                "velocity": {
                    "x": 1.8594608306884766,
                    "y": 0.010285528376698494,
                    "z": -0.006765441969037056
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.777320384979248,
                "transform": {
                    "location": {
                        "x": 2155.814697265625,
                        "y": 2527.322998046875,
                        "z": 364.73583984375
                    },
                    "rotation": {
                        "roll": 0.0011572293005883694,
                        "pitch": -0.016631510108709335,
                        "yaw": 0.1944640725851059
                    }
                },
                "velocity": {
                    "x": 1.777302861213684,
                    "y": 0.005804827902466059,
                    "z": 0.0053636166267097
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.417142868041992,
                "transform": {
                    "location": {
                        "x": 2132.451416015625,
                        "y": 2524.474365234375,
                        "z": 364.8225402832031
                    },
                    "rotation": {
                        "roll": 0.0009031126974150538,
                        "pitch": 0.10807407647371292,
                        "yaw": -179.93081665039062
                    }
                },
                "velocity": {
                    "x": -4.417111396789551,
                    "y": -0.0040256488136947155,
                    "z": 0.01615542359650135
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 4.137084007263184,
                "transform": {
                    "location": {
                        "x": 2116.994873046875,
                        "y": 2524.505615234375,
                        "z": 364.9039306640625
                    },
                    "rotation": {
                        "roll": -1.3028119381919279e-11,
                        "pitch": 0.5349335670471191,
                        "yaw": -179.97528076171875
                    }
                },
                "velocity": {
                    "x": -4.13687801361084,
                    "y": 0.004208900034427643,
                    "z": 0.04108350723981857
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 7.786365509033203,
                "transform": {
                    "location": {
                        "x": 2185.518798828125,
                        "y": 2522.748291015625,
                        "z": 365.1536560058594
                    },
                    "rotation": {
                        "roll": -0.015289301052689552,
                        "pitch": 0.18927818536758423,
                        "yaw": -48.44556427001953
                    }
                },
                "velocity": {
                    "x": 4.613775730133057,
                    "y": -6.271995544433594,
                    "z": 0.05128716304898262
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4614364504814148,
        "expert_target_speed": 5.703398083835119,
        "target_point": [
            12.191573574964742,
            -0.43194782846424923
        ],
        "target_point_next": [
            12.191573574964742,
            -0.43194782846424923
        ]
    },
    "670": {
        "acceleration": [
            -1.723184585571289,
            0.10145127773284912,
            -0.0410771369934082
        ],
        "angular_velocity": [
            0.00019721398712135851,
            0.18500828742980957,
            -0.9512898325920105
        ],
        "forward_vector": [
            -0.999921977519989,
            0.01228027418255806,
            -0.002295610960572958
        ],
        "right_vector": [
            -0.012278852984309196,
            -0.9999244213104248,
            -0.0006325221038423479
        ],
        "location": [
            2159.129638671875,
            2524.02001953125,
            364.7448425292969
        ],
        "rotation": [
            0.036240942776203156,
            -0.13152894377708435,
            179.29637145996094
        ],
        "velocity": [
            -5.124754905700684,
            0.08971184492111206,
            -0.022402115166187286
        ],
        "speed": 5.125540074823567,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 27.918622970581055,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2131.21484375,
                2524.474853515625,
                364.8273620605469
            ],
            "velocity": [
                -5.2034406661987305,
                0.003493657335639,
                0.020402153953909874
            ],
            "speed_kmh": 18.732534610498117,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 2.4194095134735107,
                "transform": {
                    "location": {
                        "x": 2169.88134765625,
                        "y": 2527.330322265625,
                        "z": 364.8565979003906
                    },
                    "rotation": {
                        "roll": -0.007965086959302425,
                        "pitch": 0.8763405680656433,
                        "yaw": -0.7304991483688354
                    }
                },
                "velocity": {
                    "x": 2.419048309326172,
                    "y": -0.006764295510947704,
                    "z": 0.04125445336103439
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85991,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9889004230499268,
                "transform": {
                    "location": {
                        "x": 2174.58984375,
                        "y": 2524.464599609375,
                        "z": 364.896240234375
                    },
                    "rotation": {
                        "roll": -0.006164549849927425,
                        "pitch": -1.13955557346344,
                        "yaw": 179.9778594970703
                    }
                },
                "velocity": {
                    "x": -3.929248332977295,
                    "y": -0.03831406682729721,
                    "z": -0.6861967444419861
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 1.1213003396987915,
                "transform": {
                    "location": {
                        "x": 2142.29443359375,
                        "y": 2527.346923828125,
                        "z": 364.78125
                    },
                    "rotation": {
                        "roll": -0.0018615726148709655,
                        "pitch": -0.23568248748779297,
                        "yaw": 0.3331402838230133
                    }
                },
                "velocity": {
                    "x": 1.1212705373764038,
                    "y": 0.006525046192109585,
                    "z": -0.004947443027049303
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 0.5083751678466797,
                "transform": {
                    "location": {
                        "x": 2155.913330078125,
                        "y": 2527.323486328125,
                        "z": 364.7364501953125
                    },
                    "rotation": {
                        "roll": 0.00011382799129933119,
                        "pitch": -0.022095661610364914,
                        "yaw": 0.17482826113700867
                    }
                },
                "velocity": {
                    "x": 0.5083730816841125,
                    "y": 0.0004545388219412416,
                    "z": 0.0013962268130853772
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.203481674194336,
                "transform": {
                    "location": {
                        "x": 2131.21484375,
                        "y": 2524.474853515625,
                        "z": 364.8273620605469
                    },
                    "rotation": {
                        "roll": -0.00018310543964616954,
                        "pitch": 0.12270434200763702,
                        "yaw": -179.98118591308594
                    }
                },
                "velocity": {
                    "x": -5.2034406661987305,
                    "y": 0.003493657335639,
                    "z": 0.020402153953909874
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.003648281097412,
                "transform": {
                    "location": {
                        "x": 2115.8603515625,
                        "y": 2524.506103515625,
                        "z": 364.9156799316406
                    },
                    "rotation": {
                        "roll": 0.0013782968744635582,
                        "pitch": 0.4824025630950928,
                        "yaw": 179.98797607421875
                    }
                },
                "velocity": {
                    "x": -5.003401279449463,
                    "y": 0.005024916026741266,
                    "z": 0.04945962876081467
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.066937446594238,
                "transform": {
                    "location": {
                        "x": 2186.587646484375,
                        "y": 2521.10205078125,
                        "z": 365.15521240234375
                    },
                    "rotation": {
                        "roll": 0.6620863676071167,
                        "pitch": 0.01010867953300476,
                        "yaw": -60.10406494140625
                    }
                },
                "velocity": {
                    "x": 3.4081978797912598,
                    "y": -7.311452865600586,
                    "z": -0.048204123973846436
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4490036070346832,
        "expert_target_speed": 6.135801170625944,
        "target_point": [
            10.966075909053842,
            -0.37097822085434995
        ],
        "target_point_next": [
            10.966075909053842,
            -0.37097822085434995
        ]
    },
    "675": {
        "acceleration": [
            0.5784225463867188,
            -0.03825634717941284,
            0.09734994173049927
        ],
        "angular_velocity": [
            -0.07322397828102112,
            0.049781978130340576,
            -0.512904167175293
        ],
        "forward_vector": [
            -0.9998701214790344,
            0.015776045620441437,
            -0.0033006607554852962
        ],
        "right_vector": [
            -0.015774989500641823,
            -0.9998754858970642,
            -0.0003453140379860997
        ],
        "location": [
            2157.86181640625,
            2524.04248046875,
            364.74017333984375
        ],
        "rotation": [
            0.019785143435001373,
            -0.1891142725944519,
            179.09605407714844
        ],
        "velocity": [
            -5.018808841705322,
            0.09333448112010956,
            -0.008630485273897648
        ],
        "speed": 5.019676634500024,
        "speed_limit": 30.0,
        "lane_info": {
            "lane_id": 1,
            "lane_type": "Driving",
            "lane_width": 2.75,
            "is_junction": false
        },
        "lane_change_count": 0,
        "distance_to_front_vehicle": 28.01350975036621,
        "front_vehicle_info": {
            "id": 85965,
            "type": "vehicle.mini.cooper_s_2021",
            "location": [
                2129.851806640625,
                2524.4755859375,
                364.8322448730469
            ],
            "velocity": [
                -5.862363338470459,
                0.003455797675997019,
                0.02142818458378315
            ],
            "speed_kmh": 21.104652669103448,
            "color": "215,88,0"
        },
        "other_vehicles": [
            {
                "id": 85985,
                "type": "vehicle.audi.tt",
                "speed_kmh": 3.469881534576416,
                "transform": {
                    "location": {
                        "x": 2170.611572265625,
                        "y": 2527.3271484375,
                        "z": 364.8681640625
                    },
                    "rotation": {
                        "roll": -0.009399413131177425,
                        "pitch": 0.9970641136169434,
                        "yaw": -0.6020506620407104
                    }
                },
                "velocity": {
                    "x": 3.4693703651428223,
                    "y": -0.01270981878042221,
                    "z": 0.05819731578230858
                },
                "bounding_box_extent": {
                    "x": 2.0906050205230713,
                    "y": 0.9970585703849792,
                    "z": 0.6926480531692505
                }
            },
            {
                "id": 85991,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 3.9457051753997803,
                "transform": {
                    "location": {
                        "x": 2173.60595703125,
                        "y": 2524.45654296875,
                        "z": 364.8983459472656
                    },
                    "rotation": {
                        "roll": -0.00830077938735485,
                        "pitch": -1.1358604431152344,
                        "yaw": -179.73008728027344
                    }
                },
                "velocity": {
                    "x": -3.9425313472747803,
                    "y": -0.04542335495352745,
                    "z": 0.1515675187110901
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85988,
                "type": "vehicle.dodge.charger_2020",
                "speed_kmh": 0.9039596319198608,
                "transform": {
                    "location": {
                        "x": 2142.39208984375,
                        "y": 2527.34716796875,
                        "z": 364.78076171875
                    },
                    "rotation": {
                        "roll": 0.0,
                        "pitch": -0.26904115080833435,
                        "yaw": 0.32009902596473694
                    }
                },
                "velocity": {
                    "x": 0.9039435386657715,
                    "y": 0.004651181399822235,
                    "z": -0.002720212796702981
                },
                "bounding_box_extent": {
                    "x": 2.5039126873016357,
                    "y": 0.9408109784126282,
                    "z": 0.7673624753952026
                }
            },
            {
                "id": 85990,
                "type": "vehicle.ford.mustang",
                "speed_kmh": 1.2593644857406616,
                "transform": {
                    "location": {
                        "x": 2156.135009765625,
                        "y": 2527.323974609375,
                        "z": 364.73663330078125
                    },
                    "rotation": {
                        "roll": 0.0001594393834238872,
                        "pitch": 0.04145924746990204,
                        "yaw": 0.19665437936782837
                    }
                },
                "velocity": {
                    "x": 1.2593505382537842,
                    "y": 0.005090152379125357,
                    "z": 0.0030486106406897306
                },
                "bounding_box_extent": {
                    "x": 2.358762502670288,
                    "y": 0.947413444519043,
                    "z": 0.650469958782196
                }
            },
            {
                "id": 85965,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.862403392791748,
                "transform": {
                    "location": {
                        "x": 2129.851806640625,
                        "y": 2524.4755859375,
                        "z": 364.8322448730469
                    },
                    "rotation": {
                        "roll": 0.0005021961405873299,
                        "pitch": 0.15441690385341644,
                        "yaw": 179.96810913085938
                    }
                },
                "velocity": {
                    "x": -5.862363338470459,
                    "y": 0.003455797675997019,
                    "z": 0.02142818458378315
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85964,
                "type": "vehicle.mini.cooper_s_2021",
                "speed_kmh": 5.247269630432129,
                "transform": {
                    "location": {
                        "x": 2114.5634765625,
                        "y": 2524.50732421875,
                        "z": 364.92791748046875
                    },
                    "rotation": {
                        "roll": 0.0011001601815223694,
                        "pitch": 0.5726293921470642,
                        "yaw": 179.99160766601562
                    }
                },
                "velocity": {
                    "x": -5.247016429901123,
                    "y": 0.0036024656146764755,
                    "z": 0.05143631994724274
                },
                "bounding_box_extent": {
                    "x": 2.2763495445251465,
                    "y": 1.0485360622406006,
                    "z": 0.8835831880569458
                }
            },
            {
                "id": 85980,
                "type": "vehicle.nissan.patrol_2021",
                "speed_kmh": 8.055849075317383,
                "transform": {
                    "location": {
                        "x": 2187.3330078125,
                        "y": 2519.233642578125,
                        "z": 365.1540832519531
                    },
                    "rotation": {
                        "roll": 0.901037871837616,
                        "pitch": -0.3660912811756134,
                        "yaw": -71.4342269897461
                    }
                },
                "velocity": {
                    "x": 1.8643304109573364,
                    "y": -7.837137699127197,
                    "z": -0.015577935613691807
                },
                "bounding_box_extent": {
                    "x": 2.782914400100708,
                    "y": 1.0749834775924683,
                    "z": 1.0225735902786255
                }
            }
        ],
        "walkers": [],
        "expert_control_throttle": 1.0,
        "expert_control_brake": 0.0,
        "expert_control_steer": -0.4142031669616699,
        "expert_target_speed": 6.042975768061275,
        "target_point": [
            9.69928705882964,
            -0.33017974659717814
        ],
        "target_point_next": [
            9.69928705882964,
            -0.33017974659717814
        ]
    }
}